{"entities":{"Q623908":{"pageid":625684,"ns":120,"title":"Item:Q623908","lastrevid":51182660,"modified":"2026-01-17T03:03:59Z","type":"item","id":"Q623908","labels":{"en":{"language":"en","value":"Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5847943"}},"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":"Q623908$04DED480-B644-46C2-8A7F-657850F91BE3","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"2cb50c2e5442ddf1ce94229525e6328a8e866a61","datavalue":{"value":{"text":"Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q623908$15215B52-ABCE-4277-9182-C7D4108A45CF","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"98783567d80a213f4672e40f2c89e5ea02134a54","datavalue":{"value":"1204.70010","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623908$24ED890A-E44C-47B2-B276-DE32DE7AB1D7","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"3c3f86bdbc800a21ffa28f22f766501d74619e02","datavalue":{"value":{"entity-type":"item","numeric-id":623906,"id":"Q623906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$D8A7AA0C-C004-4FE7-8942-93673F6DD30C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5f0a0e1dd2c78257f8cdca17f3ff0e1ce2d1d308","datavalue":{"value":{"entity-type":"item","numeric-id":623907,"id":"Q623907"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$8BA26579-F778-46FF-BF48-B748FD89739E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d3b6540a5cd6a7f15bca174716bb7f991ed59bfa","datavalue":{"value":{"entity-type":"item","numeric-id":65804,"id":"Q65804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$9418908B-FF0A-4B24-BF34-7A64773F3E86","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c6eaae4692013104271d67069d101cd2b1385740","datavalue":{"value":{"time":"+2011-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q623908$BC4D4662-E5AB-4FCC-A9B6-63024828A347","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623908$EEAA6FD8-2ED4-433F-AC45-E2768210DDDA","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"2e4c364ead05118793164f6a978188bf63a6affd","datavalue":{"value":"5847943","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623908$82C90666-3F78-4F91-8D93-8EF1098FA839","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0129f485e1a00d05177185256359fee91d402a36","datavalue":{"value":"spherical parallel manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q623908$5AF2C842-8789-4D26-83D8-9486EF3E4612","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6e4f35e8c44291dd2f032d30c8098d09566efa43","datavalue":{"value":"Jacobian matrices","type":"string"},"datatype":"string"},"type":"statement","id":"Q623908$6778A721-47CF-4C02-9645-16F71384628D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"350df7b40cb91b563abd177ded4a40a7ae00fd6c","datavalue":{"value":"link Jacobian matrices","type":"string"},"datatype":"string"},"type":"statement","id":"Q623908$7DB62253-708A-4D1A-B51C-EB15864DD981","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"91037537d51708d8889c991b8678f8088bf1ca49","datavalue":{"value":"inverse dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q623908$3076D274-5469-4F20-8B8A-AA2425231463","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"dbc273049b2d3aa29f45d828bc4cf5eb0983cb71","datavalue":{"value":"virtual work","type":"string"},"datatype":"string"},"type":"statement","id":"Q623908$2F88F31F-064C-420A-81D0-AFDAA0621D7A","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"a709ac7c97c67049e241e0b036253f1d955c589a","datavalue":{"value":{"entity-type":"item","numeric-id":13313,"id":"Q13313"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$CF9F1A4E-425E-4002-9F33-5C1E7349B1C9","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":"Q623908$6BFD981C-F35A-43A9-A2A0-6A4376BC7691","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2f7dc887f5fff300192335e75f128e332a12b62f","datavalue":{"value":"https://doi.org/10.1007/s11071-010-9659-9","type":"string"},"datatype":"url"},"type":"statement","id":"Q623908$6E3B8B8C-841C-4167-90B1-FEF761E74D82","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a7bc1465d3af13c3ec5864841a64310131af4c2e","datavalue":{"value":"W2150159640","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623908$F9036BDE-D024-4010-9F51-D6ECB7EDD92D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d49da871f15640f8ec2d232ec0568a368a89ad4d","datavalue":{"value":{"entity-type":"item","numeric-id":623908,"id":"Q623908"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$18FF9C3F-0A69-4BA9-80F1-CCB898D57081","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5e6ddc6e4202e34b9d30203ac7c0ccf980ddb883","datavalue":{"value":{"entity-type":"item","numeric-id":1301166,"id":"Q1301166"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$EF1E83CF-0E01-41AA-AC65-1DBC80A91E97","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"70b395598d6931abfe11d74b2e7dddcf26697013","datavalue":{"value":{"entity-type":"item","numeric-id":1604855,"id":"Q1604855"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$AB2CD45C-E4F8-4E3F-99F0-DA67CD2A318F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3a35059cd644c8b3c833645cf3c38320c44a31c","datavalue":{"value":{"entity-type":"item","numeric-id":2477749,"id":"Q2477749"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$A85DB6DA-9682-438F-B007-ABFB41887DC5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"38e8279c313faa3b10f2c9b82fb316b4c27383c4","datavalue":{"value":{"entity-type":"item","numeric-id":3820073,"id":"Q3820073"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$5DAF0288-0662-493A-A4C2-58CF0CA7B220","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"234d8dc1507d4df11307b55531de2441707d71dd","datavalue":{"value":{"entity-type":"item","numeric-id":1301494,"id":"Q1301494"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$33394B62-A580-4231-9EE1-9ADDCDBBA151","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cee9807ba12f565e30ab665b0960be87ced75ebf","datavalue":{"value":{"entity-type":"item","numeric-id":1420076,"id":"Q1420076"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$4755EFBB-4F46-428C-B865-DC5A785EA4E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f8b7a79f5ee50942fd2277c14cac1657649c1a8e","datavalue":{"value":{"entity-type":"item","numeric-id":1301489,"id":"Q1301489"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$C2BCA901-D96E-4467-857B-0856A783FEB5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de1747a5d7c3c2080f7d6642a4066debbe181231","datavalue":{"value":{"entity-type":"item","numeric-id":1286742,"id":"Q1286742"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$3A3AD700-8593-4DC0-B55E-8EB0603013CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a3b7147be327d7929907a4293d24d801cb95b2e7","datavalue":{"value":{"entity-type":"item","numeric-id":4203605,"id":"Q4203605"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$D4B4F334-65E0-404F-81C7-4337ED90EAE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"30c926423d078b2fd6f6029f5ed251530b275375","datavalue":{"value":{"entity-type":"item","numeric-id":4203606,"id":"Q4203606"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$A2ED8ACB-C8B8-48B7-AC2A-A57CDCDC909E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"923d6d0dd2af4a717e5cb6b195ce9acd3ab11379","datavalue":{"value":{"entity-type":"item","numeric-id":4692549,"id":"Q4692549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623908$A6D00565-0C37-48B9-B62D-538839A12CE3","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"62e9f2812721bdccac7150d985c6e1893f026896","datavalue":{"value":"10.1007/S11071-010-9659-9","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623908$715C12A2-8731-4891-B131-152D4CFC4CF5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2a91d820a371ae9ac6a3ffb3a8d95735f6e47198","datavalue":{"value":{"entity-type":"item","numeric-id":1810619,"id":"Q1810619"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f82cf6f4753b9e6627170eb597e9d37502e70314","datavalue":{"value":{"amount":"+0.8080976009368896","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":"Q623908$033FFD54-25E3-4DE8-AA3B-77524AB5950D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c13c26576ea6911201c987c29c3128e0551b2530","datavalue":{"value":{"entity-type":"item","numeric-id":1035423,"id":"Q1035423"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1bb5d52586ee062714ed11f4a9ce93b48fae06f3","datavalue":{"value":{"amount":"+0.795454740524292","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":"Q623908$522C25AA-A4D3-4F65-8B15-6FD379D0EF44","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e4b3d69db946c1ab08d06f571912ffaa67ac6131","datavalue":{"value":{"entity-type":"item","numeric-id":2205182,"id":"Q2205182"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6577a531f77d1a65518160a81aa11b445b0ad5a4","datavalue":{"value":{"amount":"+0.7876489758491516","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q623908$E7FFD178-52EE-41B1-AA8C-8597DE1FD190","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3bac67681210ef10606fcc6506825277b5df1139","datavalue":{"value":{"entity-type":"item","numeric-id":1410800,"id":"Q1410800"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"474a62f2e48acd527d0fc6e62a6ae24e6598e17a","datavalue":{"value":{"amount":"+0.7827825546264648","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":"Q623908$B52FE8AD-94A5-4151-BAFB-8B76FA3AF2A6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"53b343355037b6c89da729fe769dde0f94f638e6","datavalue":{"value":{"entity-type":"item","numeric-id":4203605,"id":"Q4203605"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8f1a9f44476232fa83612dd093bebf7549971058","datavalue":{"value":{"amount":"+0.7750682830810547","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":"Q623908$236A3F61-7755-4593-9815-1F8C45A94019","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:623908","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:623908"}}}}}