{"entities":{"Q2954632":{"pageid":2965352,"ns":120,"title":"Item:Q2954632","lastrevid":44780151,"modified":"2025-11-26T09:37:19Z","type":"item","id":"Q2954632","labels":{"en":{"language":"en","value":"Modelling and Mechanical Design of Underactuated Robot Manipulators with Impact and Friction"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6677101"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2954632$8C8D032C-2F3A-4F15-91C0-E812AEA30E05","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"fc7910ed22f68845a2ad2447a917eb551cd765ba","datavalue":{"value":{"text":"Modelling and Mechanical Design of Underactuated Robot Manipulators with Impact and Friction","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2954632$F127DFC9-2EE9-4EB3-AF34-F904D86A51AB","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"fb44688a82ae38196a1884ace86c8ec1b3f4146d","datavalue":{"value":"1354.93105","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2954632$1A5A7CEE-BAB9-4ECE-800E-8EDA11886105","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"dbe38d8fdb926d52abfefa04a306ed46c825ac58","datavalue":{"value":{"entity-type":"item","numeric-id":2954631,"id":"Q2954631"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2954632$C6CCB62F-2F89-40C3-B088-771CF9DD0E4B","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"7947d9a33ebc92eddeaff252b576403c58739111","datavalue":{"value":{"entity-type":"item","numeric-id":2954557,"id":"Q2954557"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2954632$96C46CFF-36DC-4CE0-8BBC-1B8E90B88B24","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"39f74c103b9f673f455dbf7eb78fc5dbb359512b","datavalue":{"value":{"time":"+2017-01-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2954632$271A03A1-CCF1-413E-A7FB-3A19B8CE28E1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2954632$58A7FA2C-0932-41B2-855D-9ACA12B30C75","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a26e35f2480ccd9d423223c30e9ad95c9a335bbd","datavalue":{"value":"6677101","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2954632$A7068A15-BFBA-44CF-A1D2-40FB669E46E9","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2954632$EBCB94C1-9F46-4AFE-9FA2-97BEC4DF1E4C","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"eedcf5e7af4c80dc25ea443888e90750b70856af","datavalue":{"value":"https://doi.org/10.1002/pamm.200410069","type":"string"},"datatype":"url"},"type":"statement","id":"Q2954632$3D76EE69-2094-4250-B28A-C08A89D4C4AD","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"fbf7c6df08127f106c97e74e32d71a2a19fb0f97","datavalue":{"value":"W2078182384","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2954632$611739A6-BBA7-4A39-83C4-CF34954D022B","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"50bd9405a9c21da6a8682557fb6358314ee4c8dd","datavalue":{"value":{"entity-type":"item","numeric-id":2730381,"id":"Q2730381"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2954632$0128C71F-680C-4013-91A7-90C1D14ACFD3","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"3d7da25ed55d3136a565f02676d0525e7bf0b248","datavalue":{"value":"10.1002/PAMM.200410069","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2954632$2F1726B1-88F1-49B0-9AE0-CBFE05196BD3","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4a9c71d7fc6328934fc1fb11e01bc995f5ba8cac","datavalue":{"value":{"entity-type":"item","numeric-id":3196304,"id":"Q3196304"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e0cea2cb461c77af10deca4ad6a46f87489c4b89","datavalue":{"value":{"amount":"+0.881816","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$0F757B81-EB1B-4A03-B1F3-36644FA9E6F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b33e78f1d7a5ca0ae0ba75b68ae8f099548006d1","datavalue":{"value":{"entity-type":"item","numeric-id":2296804,"id":"Q2296804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f06dbfd300ebc19d5547b4134aff7724f6db5637","datavalue":{"value":{"amount":"+0.87798053","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$43612FE8-9BA0-4A6C-B5E9-4E0482873D26","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"40fe917034a3979d4d535c89ab5c098d30c4299e","datavalue":{"value":{"entity-type":"item","numeric-id":2056539,"id":"Q2056539"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"885ab1a27c2b1f02da0022a74c18ef096c645000","datavalue":{"value":{"amount":"+0.87074697","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$59A97BF3-C2D1-4F23-9BFA-CDAE1BA66F0D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"da17cc622d1676dcf2150c8ee6d313ae5d71daa8","datavalue":{"value":{"entity-type":"item","numeric-id":1789377,"id":"Q1789377"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c11aab338e1032533b86dc205a00c8cab12b0240","datavalue":{"value":{"amount":"+0.8595017","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$171494D8-DC7D-4D03-B81A-F50C730442F6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ef118dfb50698a8ac97616b069a5edadbd54744d","datavalue":{"value":{"entity-type":"item","numeric-id":3020417,"id":"Q3020417"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6c6f9615e7349eb7654a66a1e2ce6468eea42dfc","datavalue":{"value":{"amount":"+0.8582829","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$450BB21C-42BB-4FB0-A219-F725B2F9791C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d47aaea74a6411e1eef355945875f83c0863e1cb","datavalue":{"value":{"entity-type":"item","numeric-id":4729682,"id":"Q4729682"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7f66710823273df223e75da90adf617383d8ae31","datavalue":{"value":{"amount":"+0.853801","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$1E1A00A8-80D8-4F73-A589-8FEDB4E9C14F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86a0ecb283445489e51f73f012a009edc8b0ee97","datavalue":{"value":{"entity-type":"item","numeric-id":2241750,"id":"Q2241750"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8b1e0c9639e0bf69e8755740f3964e2699e19ee3","datavalue":{"value":{"amount":"+0.85371786","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$D588F7EA-F020-44C8-8D3C-FC62A80FDE7D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c718437f537a511ddbcbe540507d9c0797b4615d","datavalue":{"value":{"entity-type":"item","numeric-id":3200948,"id":"Q3200948"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2e6b94590c474c3f3c916c951995cb13588c5604","datavalue":{"value":{"amount":"+0.84775996","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$B54B2B8C-416B-4A66-9B0B-C99DB717BCD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e4a78d568beb35ff4a643a387b58a9d751db1078","datavalue":{"value":{"entity-type":"item","numeric-id":3210928,"id":"Q3210928"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ee865fc0f8c7cb98b78a954c1dc28d6f0e35c8c2","datavalue":{"value":{"amount":"+0.8442081","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$AB8D35C0-9751-4F91-A123-BBF3665D6B46","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"83dafa58b10d28b2b44ad549f0883e54de7a4e33","datavalue":{"value":{"entity-type":"item","numeric-id":4506820,"id":"Q4506820"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a0dc77cd73fd21875f9927084b086ac74b581207","datavalue":{"value":{"amount":"+0.84338415","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2954632$4255EF06-CA80-40D8-BA21-CD3A22837CFC","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2954632","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2954632"}}}}}