{"entities":{"Q5935669":{"pageid":8112471,"ns":120,"title":"Item:Q5935669","lastrevid":41264101,"modified":"2025-04-26T08:06:27Z","type":"item","id":"Q5935669","labels":{"en":{"language":"en","value":"Kinematic and dynamic properties of parallel manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1610836"}},"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":"Q5935669$4078224F-104D-4A65-9AE6-ADB18AE94E88","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"214763ab167733add693ee2bb0e15de196a7a909","datavalue":{"value":{"text":"Kinematic and dynamic properties of parallel manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5935669$6821F724-B41F-427D-88C5-CA389D6C6FAC","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"d993c8f967f99db52d69a405580e3c42dbcaec9d","datavalue":{"value":"0989.70004","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5935669$AB8A7BFD-F9BA-4E18-9334-B58360C86B85","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"947805fdb34335367b5c1c3049adc9f86fbe85dd","datavalue":{"value":"10.1023/A:1011484402247","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5935669$E8C17C1D-F63B-40C5-B148-06D38139D8B5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f8bb3323b4c74717d5e44dacd81dc3ed2208fae6","datavalue":{"value":{"entity-type":"item","numeric-id":329021,"id":"Q329021"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5935669$29437DDD-2B8A-4E09-8B4F-CCE1C8339D63","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5cad95da44fa4bdf86a65f3d4da7c2ca7ca1e016","datavalue":{"value":{"entity-type":"item","numeric-id":1371388,"id":"Q1371388"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5935669$6EE98932-8F1F-46BE-82C3-838E16C91819","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"adaede4d30d80731f86904b0d235817d0564cc04","datavalue":{"value":{"entity-type":"item","numeric-id":174757,"id":"Q174757"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5935669$F4EA52A7-E46D-47B7-B83A-E44838D22F69","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c4a4d5474a3d1bb0bc88dc35fda8993718917e43","datavalue":{"value":{"time":"+2001-06-26T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5935669$122E22BF-024F-4F4E-9E8E-9B629E3893A5","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"ec79589f617c46636eefd46a085abd46b3c70a49","datavalue":{"value":"The design of robotic manipulators must lead to the possibility to reach a desired spatial position, ensuring as well as high manipulability. Here, the authors deal with parallel mechanisms the manipulability of which can be described by several measures, each having different sensitivity to singular configurations of the structure. A three-parameter representation of rotation group \\(\\text{SO}(3)\\) is replaced by a four-parametric description to avoid mathematical singularities, kinematic relations are introduced and applied, manipulator singularities are classified, and the behaviour of introduced manipulability measures is analyzed. As examples, the authors consider the classical hexapod structure and a triplanar robot, and investigate their workspace, manipulability and elastic stiffness.","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$A968CD3A-F7CC-467D-8BD6-060DFCE930AA","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"c673da78d5112139203fecf7a9cfeaed6261a1cc","datavalue":{"value":{"entity-type":"item","numeric-id":592062,"id":"Q592062"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5935669$03EA7EFF-DC2F-43DD-903D-14D7EE0938A2","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5935669$86E134F1-3B5B-482B-BE80-16064DE64C0A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5935669$C6DFC753-0742-40EE-A20B-3BEE0B0E7A12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c50874b37590b7d05f1ccd1402d8d55bc675a40c","datavalue":{"value":"74K99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5935669$879EEF5E-D0F5-4A5B-A77D-1C0754FF04D0","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f2e962e1c83f981f9ec7b73c1bea706d193351ba","datavalue":{"value":"1610836","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5935669$EFBABDA3-03A1-4936-BE5A-39CA763C5FC7","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5a643d1f74dd8852130024d8edcdc788d3238cf8","datavalue":{"value":"kinematic stiffness","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$B9638CF3-182F-450A-840F-FDD19651A5BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3c9563676e5aac5d3d9f98fb9c9e49e0d36de6fb","datavalue":{"value":"parallel mechanisms","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$E35DD3B8-8BA1-4979-9E86-5B3BB947FD9F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1286954518fc0ab796d3e770c95cf6828fc3abec","datavalue":{"value":"manipulability","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$E0515384-666E-48AC-9C5D-BD84B0FF7C28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f6cd04dee2d278e2028f6a23a5fae6b3c4c577f1","datavalue":{"value":"four-parametric description","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$F7596982-E075-4B19-BF71-DFD6591F93F1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"950ddd20ed817996c0ee00f721e938ce57e6bf04","datavalue":{"value":"kinematic relations","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$442ABFE1-1777-42FB-968D-397D5E935242","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"023063d5f834e947b905c4e8a6969c71824e09c6","datavalue":{"value":"manipulator singularities","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$62BD3EF7-5EAC-4659-8ECB-7930408EC7A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0bf50312869d7539da4f31cf20adc33d54c040a4","datavalue":{"value":"hexapod structure","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$3D801C25-FB8B-484D-9719-111D5CE09147","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b2a8e0be57d1cba3a375c80ee4aaace402496703","datavalue":{"value":"triplanar robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$3482F7EE-33D3-4F13-886A-E156436D3448","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"705085792a1330d789b8a0cf35c7fba8fb62a317","datavalue":{"value":"workspace","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$12D09096-9CC4-41EA-83EA-E99D10011196","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a963440308daac00f632ac0de7caebb2bd0c47a6","datavalue":{"value":"elastic stiffness","type":"string"},"datatype":"string"},"type":"statement","id":"Q5935669$FAAEB7F6-DF93-43D5-84D2-66459AECD522","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":"Q5935669$ED34D51C-C787-45C1-B590-96F5611F3359","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"e91b8fbeee15087c2deb4509acae6bb84a4616df","datavalue":{"value":"https://doi.org/10.1023/a:1011484402247","type":"string"},"datatype":"url"},"type":"statement","id":"Q5935669$11667080-B50F-4EFB-A5B0-036F2F5FF431","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"0cfa0359b0966a201855add8d0a822d43b0f408f","datavalue":{"value":"W114234246","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5935669$BD769021-8A40-4823-8438-4B76DE8D790E","rank":"normal"}],"P1643":[{"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":"af94637c93a73d8824cf5a6272930ae033c9a361","datavalue":{"value":{"amount":"+0.9304416","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":"Q5935669$C9A171B1-0B5F-4578-B74C-CC507FEAD75F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d073aac11d1a18253aa571c09ddd6a01e87554cb","datavalue":{"value":{"entity-type":"item","numeric-id":3993639,"id":"Q3993639"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6991721282b47643214326188ef5e4caca997553","datavalue":{"value":{"amount":"+0.92858064","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":"Q5935669$4022FB85-32F0-4E02-88CC-8B002634DF9C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"80bc3f4e84ea0d70a99b9b288d2b92cdf1e0a373","datavalue":{"value":{"entity-type":"item","numeric-id":4251317,"id":"Q4251317"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"97c894661f20d4e0dc77667ccbd39ffdb411784e","datavalue":{"value":{"amount":"+0.9272869","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":"Q5935669$03DFD84D-0DB6-4CBD-B940-CCFC657BCA40","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"145a8052d19549b87a3281ac44f08b72bd13b4e8","datavalue":{"value":{"entity-type":"item","numeric-id":1855333,"id":"Q1855333"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9847d73920a0fdc2d0190b5dee27173c8622b3e1","datavalue":{"value":{"amount":"+0.9161023","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":"Q5935669$623AB0C8-F461-4FC3-AAC4-347608F285DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"eabe20445c0e12c3dd7faa2f5e27e1773133da2f","datavalue":{"value":{"entity-type":"item","numeric-id":2433196,"id":"Q2433196"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e4bbd749f28e612c2d814cf25f3307b586300e57","datavalue":{"value":{"amount":"+0.91318214","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":"Q5935669$2619DDAE-9DD9-4864-B953-B183573329B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4ee179ece708c1d406f7cb0e5b9c5de392f7f5f8","datavalue":{"value":{"entity-type":"item","numeric-id":6487781,"id":"Q6487781"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a8778c2e96395fa57b81a42926b6a08fe5eefa97","datavalue":{"value":{"amount":"+0.910318","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":"Q5935669$7CE6707E-8A32-44A7-8EA3-1C7637DEE9B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ff68822181fcb0e501a34a1d2dbc29b79625e8c5","datavalue":{"value":{"entity-type":"item","numeric-id":1286742,"id":"Q1286742"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"646730eb07a2c59d5be3635e69f44ef17d5f705e","datavalue":{"value":{"amount":"+0.9057034","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":"Q5935669$81C9987F-F48B-4F3A-AC8E-2581A61B9F93","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"59c24cded79e9aeb75af658fa4d42ab0dedc1fc2","datavalue":{"value":{"entity-type":"item","numeric-id":4272947,"id":"Q4272947"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a48a77a8bc1301efaeaaee7ac83e7eaccbf71e53","datavalue":{"value":{"amount":"+0.9047381","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":"Q5935669$63FD1B13-59C7-46BF-B035-C9F5DA24BF9D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c0cd6a24fde08470f9a073b901f526f46667bb19","datavalue":{"value":{"entity-type":"item","numeric-id":3622388,"id":"Q3622388"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6a731cac6ca6da20f2ceccc91c342b4b5d0dd9e6","datavalue":{"value":{"amount":"+0.90301406","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":"Q5935669$9EB207BE-4DBF-44A2-B55A-499CF9A89913","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"460abbedeaf562bb07a701f03406f8a7b70202d2","datavalue":{"value":{"entity-type":"item","numeric-id":4698181,"id":"Q4698181"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f015383d4df91dc5d4a941259dd22002c75dbf46","datavalue":{"value":{"amount":"+0.9025893","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":"Q5935669$6CEC0EF4-99D1-4727-911B-C0CF6CFF5AC0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5935669","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5935669"}}}}}