{"entities":{"Q3835127":{"pageid":5865033,"ns":120,"title":"Item:Q3835127","lastrevid":88838690,"modified":"2026-06-04T15:36:39Z","type":"item","id":"Q3835127","labels":{"en":{"language":"en","value":"A recursive formulation of the equations of motion for articulated structures with closed loops\u2014an automated approach"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 4112166"}},"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":"Q3835127$A9DAE2C3-0AB8-46C2-B69E-29BD95115500","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"ed6f681888b984663140d8b6daea53d97564ece5","datavalue":{"value":{"text":"A recursive formulation of the equations of motion for articulated structures with closed loops\u2014an automated approach","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3835127$A8133823-52CF-409D-BCA0-6E47F5BCA578","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"94f1b29cead32ce998dab878db4e631d9f26d730","datavalue":{"value":"0678.73051","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3835127$553C4712-67D8-4CD2-BD09-7CA7C95BB6A1","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"df038ce14f448e35de236f4b72043e6ef442d040","datavalue":{"value":"10.1016/0045-7949(88)90156-3","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3835127$93912140-F0F3-4C1F-8A3D-FEE36BA8FEAC","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"b8969788f53534244620e288702e1d07765711e4","datavalue":{"value":{"entity-type":"item","numeric-id":753511,"id":"Q753511"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3835127$F0BE8B02-8691-4D80-8241-ED91DEF8E76F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5a9a695641b354b5ae42c69dd939c1822b6ca6a5","datavalue":{"value":{"entity-type":"item","numeric-id":753510,"id":"Q753510"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3835127$8F36B39D-013F-4619-A4B9-C55D5F001373","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1b54ad730f941e58926190c54828336ff4c614e0","datavalue":{"value":{"entity-type":"item","numeric-id":3026441,"id":"Q3026441"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3835127$32554311-F581-45F4-BD1F-9D95C1731C59","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"31a1937240ca4a323604b4728c31d242b5596d7c","datavalue":{"value":{"time":"+1988-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3835127$4D9D9570-1F33-4838-BB18-FBD0033F3FD8","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3e00407bf04827467164c4523eca398027d744ff","datavalue":{"value":"74S30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3835127$45F5205F-7E5E-4CB6-9AA6-18217B648D98","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"19dd37a52c0c8850c34e08b30677f4ec61743ea5","datavalue":{"value":"74E30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3835127$FC0A865A-8696-47CA-964E-2BFE4B6B8024","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"141a183b88163ccce316439021f07fae926a51ae","datavalue":{"value":"4112166","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3835127$D33FF756-E101-4DC7-81CD-7C8943CC7D96","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b93c9d2bc3dd342989bfa457b6a0aa4eb03f4d90","datavalue":{"value":"dynamic analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$4C69676A-97C4-4550-AAA6-D7C63C65BF01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e61d6dafd32e2cf9b5ebb306948937a7fa7d82e0","datavalue":{"value":"multibody systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$5A50CE70-0B85-41E2-9780-531AF3C127DF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2300d4d3665fc4558c06d51934c9bbee06f42627","datavalue":{"value":"Kane's equations","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$FCDCFB0D-9147-4F7B-9739-43186620786D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0d9c33357b0174d999eaf26e83c2888448a8246c","datavalue":{"value":"strain energy","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$241D9318-5334-4765-BEB8-C6FA84ADFD21","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0185c88da9fb0b4a39f35236984e4ba262791ee8","datavalue":{"value":"modal analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$771964B5-643B-45BF-AB33-D14A3E645A7A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4ce233840e58f2835dcf5777027fcca5574910f8","datavalue":{"value":"equations of motion","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$4CB2F63E-381C-464D-88F1-7BBE12137480","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"80f0e54402c024bb0d2565eaf031a5cae21286e0","datavalue":{"value":"constrained systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$495FF34B-0F83-4F77-B0B3-94DEC1922CAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3728031364ab72f4a11f5e23155573db17619b37","datavalue":{"value":"closed loops","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$8A30CC2A-F025-48E3-8D96-79C371DABF99","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9bce3848c0fa72375f68212c9e55d5ca954228fd","datavalue":{"value":"pseudo uptriangular decomposition method","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$8BA2A0F6-82D2-414E-985B-59DEF02543D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"260f11965e5b3f19e429a861dc62ad0f9e6d7e05","datavalue":{"value":"generalized constraint forces","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$83998A91-5C92-4FCD-B874-DDF6121739FE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e6ca534f0d3165284455caad9ba873a353912e68","datavalue":{"value":"variable cross-section beam elements","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$9CC41361-809B-47F8-B145-03B25BE95139","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"40e00b15303edba181f09346cf3d69255b1dc7b5","datavalue":{"value":"spacecraft antennae","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$A9A0C7F0-4E06-418D-80DE-F70E9F6CB86B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f661914a70b0336b458139c54c8b3127a16de352","datavalue":{"value":"helicopter rotor blades","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$C487EF7D-D0A0-47E9-B566-7B7712B55599","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"54bd8b2fc3aa71e596caa381df3ab7b85924f636","datavalue":{"value":"robot systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$9A0548EF-25FB-4B40-A2DE-8F20B1C0852E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8ce9ccf948ba7592d7d82fe4512889ceae72abfa","datavalue":{"value":"rotary inertia","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$94F5ECE9-2AA6-4DDF-B3BA-47BF1BE70EF6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"738db63e5a8b6a48fe168f2be25514540bb08615","datavalue":{"value":"shear deformation","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$B36F313A-4753-4847-84C1-9D7B7D06D007","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"761e2d9e3ffc9b4d8d54bf6e8090a1eeaf260b81","datavalue":{"value":"shape function matrix","type":"string"},"datatype":"string"},"type":"statement","id":"Q3835127$EA8B576D-0E6C-47F9-8CFC-D5F8088A3760","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":"Q3835127$64F09DDD-B57B-4020-A169-DDF84F3F999D","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"4c329882d51135fe5c0ee2b075e1bb9cbb074876","datavalue":{"value":"https://doi.org/10.1016/0045-7949(88)90156-3","type":"string"},"datatype":"url"},"type":"statement","id":"Q3835127$C2BDEF15-4812-4C91-AD35-DF37659ACF4D","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"397f6d6298694983436ec0e5ddbf680acf443356","datavalue":{"value":"W1981750312","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3835127$52A4EB3A-DDF7-4394-BAE2-75E2D485F064","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"66890cddaac158d0d9d74183b89d462947ab8b9b","datavalue":{"value":{"entity-type":"item","numeric-id":3478027,"id":"Q3478027"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"01252cf537f11c7b1ad44ccb4a34a6b85a1d3c06","datavalue":{"value":{"amount":"+0.8313182592391968","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3835127$8174F016-DEAD-4354-B58E-7608DF9D182B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"747ad11760f097a6271ffb892c63934d1a4e9d9f","datavalue":{"value":{"entity-type":"item","numeric-id":1823060,"id":"Q1823060"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"853b070c45c7281cda36a92f4c2bd9590d212c23","datavalue":{"value":{"amount":"+0.8061668276786804","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3835127$B5AB3FB8-7312-487A-9F30-EA0C9B973E58","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8c05b44e53be0ee2243d2a221be6660aa6fd31fa","datavalue":{"value":{"entity-type":"item","numeric-id":2277064,"id":"Q2277064"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"304109a811b321e0e6b4cc2ade43dcf53a458adc","datavalue":{"value":{"amount":"+0.7972134947776794","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3835127$3C667DE3-D691-4162-97DE-DAC88DBA6022","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"05498afc094787c2b8ed1b465df11306a764f35f","datavalue":{"value":{"entity-type":"item","numeric-id":2457095,"id":"Q2457095"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2fa4d02e89509e1831b2f13d887c350649ce7bba","datavalue":{"value":{"amount":"+0.7844379544258118","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3835127$B70EC32D-E43E-4A97-81FD-28B251795BA2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"df2005649b09baf36363ea6d485e4b1c4fc75f93","datavalue":{"value":{"entity-type":"item","numeric-id":1875800,"id":"Q1875800"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eff8b0ae7648d4a01351e72667d878ee074455aa","datavalue":{"value":{"amount":"+0.7839940786361694","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3835127$A96ED2EA-4205-4497-84AE-30755391C381","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A recursive formulation of the equations of motion for articulated structures with closed loops\u2014an automated approach","badges":[]}}}}}