{"entities":{"Q531141":{"pageid":532908,"ns":120,"title":"Item:Q531141","lastrevid":56653194,"modified":"2026-03-18T10:17:21Z","type":"item","id":"Q531141","labels":{"en":{"language":"en","value":"Geometry and kinematics for a spherical-base integrated parallel mechanism"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6608709"}},"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":"Q531141$304280A6-3862-4735-B48F-E3EE145AB073","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"20b8d9427c0a8a58fafc11794cffda2a8d7b9a20","datavalue":{"value":{"text":"Geometry and kinematics for a spherical-base integrated parallel mechanism","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q531141$62602804-9B6B-48B7-AE8D-9B0445B77A65","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"3c17315b8d542a036107ae645fc43da458dd6930","datavalue":{"value":"1342.70010","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q531141$E2E1B478-D756-4F87-9078-F64916D8AB7B","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"8d75d28b470ea2cbede3b521f9e73fd45aef50ac","datavalue":{"value":{"entity-type":"item","numeric-id":477554,"id":"Q477554"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$E01B5EB7-11C5-4BEF-AC9C-44FAE2078B6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f3994b3ea7b242f980d845d7f38f3a45e589bc28","datavalue":{"value":{"entity-type":"item","numeric-id":592710,"id":"Q592710"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$ED595B6E-76C7-4400-BDB9-11AEF1FF27FA","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8b039e3c4d5680abc8f4b192cce65863a0663b5d","datavalue":{"value":{"entity-type":"item","numeric-id":162200,"id":"Q162200"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$B9CA6553-AD58-421E-9AD8-ED0645EE814E","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"475f69112e71fc702e2f65061848109fd5c517ee","datavalue":{"value":{"time":"+2016-08-03T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q531141$7A4A3C5A-0D33-4C65-A1C2-308C4B9A53C4","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q531141$E26BFFA6-D956-4FE2-A0E5-845B35050A81","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"005a24187bfceb744d98c76f255d4816b9c8e7c8","datavalue":{"value":"6608709","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q531141$C311E6AB-BFFF-46B2-BBBA-2EA663058D7A","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d96d35d3afbc3e6501808a3c895d9470ccad56e9","datavalue":{"value":"parallel mechanism","type":"string"},"datatype":"string"},"type":"statement","id":"Q531141$52363511-7109-493F-8F01-A239B559AFF1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b595f53cb396f1b17ed23e647f1e31aec28e52f9","datavalue":{"value":"reconfigurable base","type":"string"},"datatype":"string"},"type":"statement","id":"Q531141$AF1CB48C-F989-426F-95A6-1FBEFDCFE5FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"87089046ec3934f89371e120821f017e0b56b935","datavalue":{"value":"metamorphic hand","type":"string"},"datatype":"string"},"type":"statement","id":"Q531141$1A2040C0-62DF-4933-9FB3-E34F2AD276C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9d94357a39c8e2405c4a08050748d657c3a301a8","datavalue":{"value":"kinematics","type":"string"},"datatype":"string"},"type":"statement","id":"Q531141$53F8DD33-D259-4E61-9174-4BCCA4F70615","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2edfadbaf67367fe986c818848f6c0d3f1571ff3","datavalue":{"value":"screw theory","type":"string"},"datatype":"string"},"type":"statement","id":"Q531141$895FBB14-3396-4368-B5B8-C7199C2A8F7F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d26fe280d9ba0c66bc2018023fa85866c48ad3a2","datavalue":{"value":"Jacobian","type":"string"},"datatype":"string"},"type":"statement","id":"Q531141$781D8EB3-3F69-418D-81FE-09A04048D07E","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$A321521A-8DE2-429F-BC1A-BEE6FC4FFA21","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"7376aecfd602566313db82435dc76617452b2dc5","datavalue":{"value":"https://doi.org/10.1007/s11012-016-0438-7","type":"string"},"datatype":"url"},"type":"statement","id":"Q531141$C5F8E360-EA96-4736-9F47-1163604705D7","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"6c60a2170075161f8a3d4da7f4d16961c244e0a6","datavalue":{"value":"W2347024076","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q531141$32594F5D-297E-476A-887B-5BD49130EB67","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"0c68290b4d93cc061afd1891b55a55cb037c2725","datavalue":{"value":"Q59474980","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q531141$6AB9BA52-5749-4094-BD24-E09ACBA0B33E","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1eaf90d5bf29331d9ee867cd5a0eb767136b470d","datavalue":{"value":{"entity-type":"item","numeric-id":3196248,"id":"Q3196248"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$54070198-C555-43D9-B963-5BDE1906BF5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de598df3d336b433a9ee914a41c4161d6c6a3695","datavalue":{"value":{"entity-type":"item","numeric-id":866284,"id":"Q866284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$59521546-C932-4C96-8555-517AEFF27B0D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c157bb517c2e624415f816b6fb3cf7e8d861a845","datavalue":{"value":{"entity-type":"item","numeric-id":932106,"id":"Q932106"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$4D46E1C9-9138-4BD0-9A69-E41F3E382DBB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"549e74b2dfeff06a77738eba980e15505ae32f2c","datavalue":{"value":{"entity-type":"item","numeric-id":613951,"id":"Q613951"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$A227D4B0-2487-4511-80C6-4944BA687DBD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6167c39df761ad3745d8eef0d0f540a7793b459b","datavalue":{"value":{"entity-type":"item","numeric-id":2500498,"id":"Q2500498"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$EBF7DC9B-C02B-46EA-A48E-95FFB37D6271","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2add52a9f8cb2caf367bb19650aa612b3b284174","datavalue":{"value":{"entity-type":"item","numeric-id":4335241,"id":"Q4335241"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$4DBB23BD-A5CB-4A9E-95E6-E4D23A25A534","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"734292a85312514cbf61744b1134afbf41ec01e0","datavalue":{"value":"10.1007/S11012-016-0438-7","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q531141$88EE0858-82AB-488F-8515-AC30CA89B1AB","rank":"normal"}],"P1643":[{"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":"d75cbce5e14fd88a953dddb13dd5d4bd6877f3f0","datavalue":{"value":{"amount":"+0.7536318898200989","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":"Q531141$7577BD65-2CCA-408B-8C09-6035700683D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d343add10fa95b1f1b67212215c7db60c8b9d68d","datavalue":{"value":{"entity-type":"item","numeric-id":2429874,"id":"Q2429874"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7de3e558e4fe1616ff02aa4397462bf674a14b1a","datavalue":{"value":{"amount":"+0.7378666400909424","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q531141$DC81A409-92F7-4077-AB39-AA77D85F305A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0690e4d33d854728fa5f1d36f715836c44e4e198","datavalue":{"value":{"entity-type":"item","numeric-id":2581750,"id":"Q2581750"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2b83e960a1a1d6c5ac91a21afb08c8bfad1b503f","datavalue":{"value":{"amount":"+0.7348743677139282","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":"Q531141$C921BC17-A25D-48AA-9E4B-A0BBCF6DD28A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d32391dfc3cb86a5cc2d2479acdc3db07594aecc","datavalue":{"value":{"entity-type":"item","numeric-id":1032262,"id":"Q1032262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"69e312c60c06c4a50136fda402939b62c8431f35","datavalue":{"value":{"amount":"+0.7346709966659546","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":"Q531141$1F10BD9A-1385-478A-BEC7-0D44C2BE11D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"efe7bf20285bc1254b9ec74324fc9574f068cc76","datavalue":{"value":{"entity-type":"item","numeric-id":4335257,"id":"Q4335257"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b81a72278eda04a93cedd1e34bd865fab4c442bf","datavalue":{"value":{"amount":"+0.7313030958175659","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":"Q531141$4C1E2BFC-940B-491C-BF71-3427E9A12D80","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q531141$6E19E416-BBFC-4572-8540-7F9BAC2A8E6E","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:531141","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:531141"}}}}}