{"entities":{"Q623956":{"pageid":625732,"ns":120,"title":"Item:Q623956","lastrevid":51182726,"modified":"2026-01-17T03:04:02Z","type":"item","id":"Q623956","labels":{"en":{"language":"en","value":"Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5847972"}},"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":"Q623956$65AA8570-BBA0-4683-9DD8-50A06B372A6C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"11796d5dcf4d776fc78694768b88efeb65c18f47","datavalue":{"value":{"text":"Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q623956$AF0E789F-B8B8-4643-8B55-198D262F5214","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"fb53401e89ca3cd42f52b9db2fb2cfe560dfc257","datavalue":{"value":"1204.70006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623956$3F9B9AE9-E391-4E09-AC58-11AE1568E4C4","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"86ee1183cbfcdd1ec3007bae2022c8f3cabb5d9c","datavalue":{"value":{"entity-type":"item","numeric-id":623955,"id":"Q623955"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623956$609D6ABE-5A86-4550-BA1D-A4C9C6542CAE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"60fce1101f9c415a3bf3c4ce30f0cb15f3c831ff","datavalue":{"value":{"entity-type":"item","numeric-id":437309,"id":"Q437309"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623956$CB9AD515-E1EF-4E80-8F29-D389E06D0E6C","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":"Q623956$D52CEF86-8B95-48EC-92FE-E838461A5AC4","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":"Q623956$2D4160E3-391C-428C-BE4F-ACDE7526E7D7","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623956$A189E806-CD1E-4897-9339-5AC87D6B83E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623956$A318639E-181B-470E-B13E-AC3DCCCD6A4D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a0e96b7a13636299e9309baa9921c672d907384b","datavalue":{"value":"5847972","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623956$89EB53D0-D3C8-42DD-9A10-E86DEE0ADB74","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9197b3b86b65a2ef5162dab740f89a06d20a160a","datavalue":{"value":"flexure hinges","type":"string"},"datatype":"string"},"type":"statement","id":"Q623956$65E97411-BFCD-4371-BE85-67D6FD5B084D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"51d3d51e31affc597c7abb4d72e44889b3462866","datavalue":{"value":"parallel manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q623956$B059E185-07F6-47A0-BE4C-3EC4FA467D61","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ffc062db73f765cb87ceed339712aaa2e46fd588","datavalue":{"value":"stiffness equation","type":"string"},"datatype":"string"},"type":"statement","id":"Q623956$E5458017-5C74-4E91-BC5C-12964F51470C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a5fd2aa78a5a31331ff28a508fc9fbd4153e0c99","datavalue":{"value":"kane's method","type":"string"},"datatype":"string"},"type":"statement","id":"Q623956$5D4D4DC4-8020-4CD2-904E-0F8B0D09BB18","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":"Q623956$554E3B69-BC07-459C-A341-166D3084B85B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"5155e5442f163e2484d9ff354c6612c535b9cfaf","datavalue":{"value":"https://doi.org/10.1007/s11071-010-9690-x","type":"string"},"datatype":"url"},"type":"statement","id":"Q623956$1ABFF211-113F-4496-BD20-C3CD41AB8813","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"c06b816d1ac6fa9f1f867eee460569f998265040","datavalue":{"value":"W2010801461","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623956$77403EFF-671A-4B8F-91F3-1A0116584024","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"9ce55d9ff1109e2c3768278f5b40de58c92f460e","datavalue":{"value":"Q59357337","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623956$37363CDF-4CE1-4419-AD59-76302DC85511","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"950492e23926d6f40431865f6f5f4f7333d41e63","datavalue":{"value":{"entity-type":"item","numeric-id":1301109,"id":"Q1301109"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623956$302FBBD4-22EE-449B-A83D-25A5F2007196","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1352387126492d361f0c74f986f556b0907e6906","datavalue":{"value":{"entity-type":"item","numeric-id":933693,"id":"Q933693"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623956$ABF6B9EF-0162-4A9F-B06C-7359B0B2256B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e497a4b26fdabada7a7926a239813a0f2f06520c","datavalue":{"value":{"entity-type":"item","numeric-id":1779756,"id":"Q1779756"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623956$7079D368-4ADE-4123-AEE3-7938E0C03704","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4e42401944ce287f1da28172a53eaa434569eed3","datavalue":{"value":{"entity-type":"item","numeric-id":886370,"id":"Q886370"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623956$287C5F5E-31E6-4667-9A21-7A598A85901F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f789df1604bdd6339370300b9981ecb6ef2b4a23","datavalue":{"value":{"entity-type":"item","numeric-id":1016980,"id":"Q1016980"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q623956$ED549579-1DD0-4F61-8935-CB722E0B00DB","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ce1bbdcbcaa69cd8958ad25fa0b29aec399d387d","datavalue":{"value":"10.1007/S11071-010-9690-X","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q623956$64139405-F69D-4EFB-9B92-06E58815D00D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f8c96f4b7b637b942bf42730d3bd87414ded3ff5","datavalue":{"value":{"entity-type":"item","numeric-id":614665,"id":"Q614665"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ff32c82a67a8c1dd0cdaa854b4b2e53cbee3b1ff","datavalue":{"value":{"amount":"+0.7640939354896545","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":"Q623956$401C4342-2D15-4FD1-A531-8F66AE2D228B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c1ce6bf6f989cab63abdf60832925ba88bcc2efc","datavalue":{"value":{"entity-type":"item","numeric-id":1048906,"id":"Q1048906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fbe7374831497afd6aab3ae4f6b0b1056c3524ce","datavalue":{"value":{"amount":"+0.7319919466972351","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":"Q623956$6D84155D-4F58-467C-A360-2B27AE498791","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ab4b7f4d0e0eb4a352f6d192af36a0fee54ee1cb","datavalue":{"value":{"entity-type":"item","numeric-id":612668,"id":"Q612668"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bdbeb1d8d9351311490a8644be8543c0ce60e2ae","datavalue":{"value":{"amount":"+0.7276334762573242","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q623956$F2995672-E63F-41FD-BD31-BBDFC02F5DCB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7a1cfba40381c85d5340c5a6a7b4b8bc590c368d","datavalue":{"value":{"entity-type":"item","numeric-id":925802,"id":"Q925802"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c8f028b73bdd7dffbc92d1a09f71ef5b4749c6f8","datavalue":{"value":{"amount":"+0.7096404433250427","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":"Q623956$904EE743-0DF0-49DA-AB36-30E46A3FBD54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d6fbfd29c08e8342b4ce158ae2b58a47720a8e99","datavalue":{"value":{"entity-type":"item","numeric-id":1768858,"id":"Q1768858"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"70d91c3f90a2cf875af400630fc9580f27eca14c","datavalue":{"value":{"amount":"+0.7070146203041077","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":"Q623956$156F1D61-57EB-4EC8-8C2D-5CAF5F500BD7","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:623956","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:623956"}}}}}