{"entities":{"Q4203603":{"pageid":6233204,"ns":120,"title":"Item:Q4203603","lastrevid":47186503,"modified":"2025-12-31T22:57:59Z","type":"item","id":"Q4203603","labels":{"en":{"language":"en","value":"Synthesis and analysis of a new class of six\u2010degree\u2010of\u2010freedom parallel minimanipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 410174"}},"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":"Q4203603$C029F689-F87E-40CE-8591-416635BE341C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"0f51db4142e124dbe6cef0cf431cfc856612c045","datavalue":{"value":{"text":"Synthesis and analysis of a new class of six\u2010degree\u2010of\u2010freedom parallel minimanipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4203603$9D57E5BC-046B-435F-BBDA-BDE3404AF8EB","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"6edc9b97febeed81dfa9095c11d349937b9ea8e0","datavalue":{"value":"0774.70006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4203603$E40AC98D-2F0B-434E-A9AE-25CD8D6F233E","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ee9ff3688fc1f470ce7852e3963afd53d2e76b7a","datavalue":{"value":{"entity-type":"item","numeric-id":1765250,"id":"Q1765250"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4203603$9F1E51AE-ED91-458C-9B64-B1223D2F4862","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e5c8db01323bda96873db66083bf27cc8b201c35","datavalue":{"value":{"entity-type":"item","numeric-id":4203602,"id":"Q4203602"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4203603$3D603588-27A5-4289-84C2-6B2055EE4E3C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a6a06598e91dd6e8240862adb18d7b4a4e051e39","datavalue":{"value":{"entity-type":"item","numeric-id":2711919,"id":"Q2711919"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4203603$577D9004-891D-4EE2-8A08-041E0175B702","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"865b9a7914d0764dd4dbae28ba40db956619b160","datavalue":{"value":{"time":"+1993-09-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4203603$A658FEC6-5E0E-44A8-84C2-AF9049253D0E","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4203603$333FA7F8-2FE4-4358-B0C6-66C691F1F434","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"583ddb2bf1bfb2f0f4a55d125fad4bb34adbdfa4","datavalue":{"value":"410174","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4203603$E6B71FA7-CF6A-4B72-8F2A-7A1FEDBDE78D","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e44f81aab1f3dc7b7487d06122f1918c7b690c72","datavalue":{"value":"kinematic analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q4203603$29489553-C0B2-4AC4-B41D-CD6A8AE7058F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5024bb80673719c0c2bcc0cdaee36bb41e8804cb","datavalue":{"value":"force control","type":"string"},"datatype":"string"},"type":"statement","id":"Q4203603$25BBA9D7-C7FB-4FB5-B85A-C1F953E539FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f693df408a43de81fd39f06df4e9b8f2b028d8b5","datavalue":{"value":"planar linkages","type":"string"},"datatype":"string"},"type":"statement","id":"Q4203603$6A98244A-29FB-4149-BBFA-7CB44A5397E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4d2d3a32e299f33ee164e84645cab062d57230e1","datavalue":{"value":"inextensible limbs","type":"string"},"datatype":"string"},"type":"statement","id":"Q4203603$CEED778B-4C45-476B-A79B-2BEA94841D9B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"576c829ad0300e69a0fdd3d3460c1baf92602fe4","datavalue":{"value":"positional resolution","type":"string"},"datatype":"string"},"type":"statement","id":"Q4203603$C0E86AA2-BFD8-44BC-8FD7-A449BC46A45A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cf5386eafbef49cab9721b7d533ef340ae7f2281","datavalue":{"value":"mechanical interference","type":"string"},"datatype":"string"},"type":"statement","id":"Q4203603$B9DFFC1E-7A9F-4EC4-85CB-13ABC878446A","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":"Q4203603$F1D15824-52C4-4296-94BA-80AF783A47BF","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"07dd1b4474c7720d893e0f750225dbfa10a98e48","datavalue":{"value":"https://doi.org/10.1002/rob.4620100503","type":"string"},"datatype":"url"},"type":"statement","id":"Q4203603$79EDA42F-0BC4-4C92-A6A9-4B4E3AE94AD4","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"1a779b68f66466b95432a85713997a00a848c832","datavalue":{"value":"W2015832338","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4203603$FD721BB6-507A-4595-849B-F45F105065F4","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"8dca887fe7fd00254cca7c5eb3bfa9c4115649a8","datavalue":{"value":"10.1002/ROB.4620100503","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4203603$3893048B-F820-4C0F-8B14-932C348CF40A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2f950c55b0d02fdb438fc47987a408047d7b655d","datavalue":{"value":{"entity-type":"item","numeric-id":4861136,"id":"Q4861136"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0bc2ca8417d42f330fa9f6e687c746357d42aed9","datavalue":{"value":{"amount":"+0.7875257730484009","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4203603$E4D634C5-574A-43D3-8AC3-5668617AFA5E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"374d83647b10648e54fe10d8e058fb3b5f00caa0","datavalue":{"value":{"entity-type":"item","numeric-id":532292,"id":"Q532292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2c6ffe3a652392420edb698c0ca2312b50549870","datavalue":{"value":{"amount":"+0.7617172002792358","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":"Q4203603$D58BD74C-E6E1-45A5-B632-3B75917EBEF2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e57e0a82d0ef3b3ec1b2902ebc282c13dafde028","datavalue":{"value":{"entity-type":"item","numeric-id":1875983,"id":"Q1875983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d53e495555b884306db439910b494656e830e941","datavalue":{"value":{"amount":"+0.7591992020606995","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":"Q4203603$1EA34B63-C827-4817-8B39-88C9A901B24C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9abdda3af99db55de7fc264c6d6a46e1f10da9e0","datavalue":{"value":{"entity-type":"item","numeric-id":1850296,"id":"Q1850296"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cb5cbb611d49975e7dc641dd4cab18cb2a9bad5f","datavalue":{"value":{"amount":"+0.7538366317749023","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":"Q4203603$666272E4-0EAA-4700-B624-16DB1E9EBFF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e276a7e9abd25190c26421884bd2a5faf7324abc","datavalue":{"value":{"entity-type":"item","numeric-id":1306132,"id":"Q1306132"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"98e0430ac7756a13f72dd2d27604589cf16e083f","datavalue":{"value":{"amount":"+0.7529230713844299","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":"Q4203603$84BC8C58-923F-4DC7-BF72-D9BA22CCBD58","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4203603","badges":[]}}}}}