{"entities":{"Q4498156":{"pageid":6527749,"ns":120,"title":"Item:Q4498156","lastrevid":89806433,"modified":"2026-06-04T18:19:02Z","type":"item","id":"Q4498156","labels":{"en":{"language":"en","value":"Static balancing of spatial six-degree-of-freedom parallel mechanisms with revolute actuators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1491154"}},"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":"Q4498156$D3E99E3D-51B6-4461-9464-A5F5D9E116A9","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"a94714cc09fac9e57c10b340a06f74b845ab93c8","datavalue":{"value":"0964.70005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4498156$E105040B-858D-4E42-A44A-1B6AA975C5D4","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"b57b8df55b94eba44b6f7e42363497a1ad8fe61b","datavalue":{"value":{"entity-type":"item","numeric-id":1286741,"id":"Q1286741"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4498156$FB8816D3-0D95-4220-B64C-8C46D815EE68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1e2a4851efb45348a3066c1c88326521cc97a343","datavalue":{"value":{"entity-type":"item","numeric-id":849661,"id":"Q849661"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4498156$7361C5B0-DC99-45D8-A525-35A5600D77F4","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"0c1d27f90c5efc0baf8dad41a96c8a8197323785","datavalue":{"value":{"time":"+2001-07-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4498156$0E01F0FC-62BA-4256-AAD8-AADD038F7869","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4498156$617ED688-5A47-4767-9CCE-AF9325C800A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4498156$59450846-2CA9-486A-896C-5933F27D4646","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"98f698d6e7c6d4e27ce33a0edfd035d0299a81d6","datavalue":{"value":"1491154","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4498156$6D2E2934-BB6F-48BE-B32D-B109946AFC6B","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d1cd1d257e0953c9ff6fb113343d308d458066d9","datavalue":{"value":"static balancing methods","type":"string"},"datatype":"string"},"type":"statement","id":"Q4498156$9A4E9010-E7F8-495B-9BA3-1444C8555A2A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cd2ce2deb98178abd3aca9e8c6ca694971cd03ea","datavalue":{"value":"counterweights","type":"string"},"datatype":"string"},"type":"statement","id":"Q4498156$F5DD8474-BB4C-431B-A838-2E5D538A2885","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9421b352eda6c8bab90fbf6eae660d9ec35052c3","datavalue":{"value":"springs","type":"string"},"datatype":"string"},"type":"statement","id":"Q4498156$4E343358-AAE3-4E78-B4E5-D592E64104C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"70bcf65882e06183f560bcb895771b116454c0d4","datavalue":{"value":"global center of mass","type":"string"},"datatype":"string"},"type":"statement","id":"Q4498156$EDB2A29A-CE3B-42A2-9E0C-FA6400CC7F8C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d22f1df314e3fc58ab4ce4b97108a60e72a81506","datavalue":{"value":"total potential energy","type":"string"},"datatype":"string"},"type":"statement","id":"Q4498156$3E584864-A503-43C2-9A97-6169AD03675B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"745e081b0ebfdf64f2b311f6c9b0de9865c99954","datavalue":{"value":"elastic potential energy","type":"string"},"datatype":"string"},"type":"statement","id":"Q4498156$4FA2ED42-B7C1-41D6-A4ED-4BE3EBBCF92D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"18eba67f891f29f142483c57bc2bf0fc57aadc98","datavalue":{"value":"gravitational potential energy","type":"string"},"datatype":"string"},"type":"statement","id":"Q4498156$79E7FB83-F775-4AC6-9028-31F4E7237445","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4498156$A7C93B2E-A152-42CF-B397-8E084FF90600","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"c5c5ec7462b42c3c76a31b4277ffd8326e33af4f","datavalue":{"value":"W2036754559","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4498156$CA44E58F-84C9-4FF1-9377-03DA66938076","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"56bb305e7f374545720569bc32bb467af63b75f7","datavalue":{"value":{"text":"Static balancing of spatial six-degree-of-freedom parallel mechanisms with revolute actuators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4498156$FA1E7B51-121F-4740-BBDE-DF4CC3DD466D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"516d8e31c57b58594cad8931cce925731ae42fc8","datavalue":{"value":{"entity-type":"item","numeric-id":1301185,"id":"Q1301185"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e217c90c4ec2bae61162fb3c09427a5b44cd81b8","datavalue":{"value":{"amount":"+0.92224085","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":"Q4498156$D00F1EF6-0ED4-4E19-A74B-40CD8507F149","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c90ab799f411cff35d1debe2a0993c99f79336e2","datavalue":{"value":{"entity-type":"item","numeric-id":1602094,"id":"Q1602094"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"12b6bff36e96e4358fecfa437750273b78f459ea","datavalue":{"value":{"amount":"+0.92205596","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":"Q4498156$520BB101-1093-4D85-9AEA-187606296D2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2ea9182c0af02143bd03dbbaafb6a96c6380ae02","datavalue":{"value":{"entity-type":"item","numeric-id":2967729,"id":"Q2967729"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"49485bda4df25b6aa404181729929cdd4aa1a7bd","datavalue":{"value":{"amount":"+0.88132024","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4498156$FD845C84-F0F7-47B3-9944-D37F115A0B52","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":"370a3864680b860d3ee3425de2f66a46b8066b74","datavalue":{"value":{"amount":"+0.8702151","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":"Q4498156$8D22037C-6BA0-4CA5-AC0E-BC9D1C340C67","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"84ab061cf307ca6089114ca81e37ac90ff57411b","datavalue":{"value":{"entity-type":"item","numeric-id":1765941,"id":"Q1765941"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"88fd80d45712e83b6662e56e67695d43e5033d19","datavalue":{"value":{"amount":"+0.85902715","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4498156$BC84BAEF-CFFF-4B6A-B18D-FCF91532319A","rank":"normal"},{"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":"0ef021d39b65caf2893a101a6352ab91abc01e82","datavalue":{"value":{"amount":"+0.85365707","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":"Q4498156$F2032D04-9617-483C-AE8B-610622731E78","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5f50c9437f2a9740264c92018f466d49563ef2ec","datavalue":{"value":{"entity-type":"item","numeric-id":2380629,"id":"Q2380629"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7cccb94cd812dc6e55552cc28677051cb6575e40","datavalue":{"value":{"amount":"+0.8503635","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4498156$AE029D11-55EC-41A4-BAD3-4AFA577C431A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4bc0754bc2fd4b66f22192231744a1a7fbf2b853","datavalue":{"value":{"entity-type":"item","numeric-id":1701262,"id":"Q1701262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"60a2bd97aa877fdb37a52cfdc474009c6dec0b90","datavalue":{"value":{"amount":"+0.849057","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":"Q4498156$77E8F844-DB07-4F9A-A556-C766B87BF365","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5ac104ac4e9f96a5f009eeb70683c8fcfb987aed","datavalue":{"value":{"entity-type":"item","numeric-id":1870153,"id":"Q1870153"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3e1cd08860c37784a40e19f1fe11a3e8cc882acd","datavalue":{"value":{"amount":"+0.8484472","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":"Q4498156$05192571-1249-48C2-8BC7-34358C989C99","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"2e8b7f9ae261fd927fd6b25adcf7f1410b73f9fa","datavalue":{"value":"10.1002/(SICI)1097-4563(200003)17:3%3C159::AID-ROB3%3E3.0.CO;2-J","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4498156$53DD47BE-C5F1-478D-BD83-61CF69C457F7","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"6c9467b0ec9af824980fd8396f327e5bf2e40947","datavalue":{"value":"https://doi.org/10.1002/(sici)1097-4563(200003)17:3%3C159::aid-rob3%3E3.0.co;2-j","type":"string"},"datatype":"url"},"type":"statement","id":"Q4498156$569E438C-AA89-42DF-9D9B-A7F12D3C7BFB","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Static balancing of spatial six-degree-of-freedom parallel mechanisms with revolute actuators","badges":[]}}}}}