{"entities":{"Q634972":{"pageid":636820,"ns":120,"title":"Item:Q634972","lastrevid":51317090,"modified":"2026-01-17T17:53:35Z","type":"item","id":"Q634972","labels":{"en":{"language":"en","value":"A generic force-closure analysis algorithm for cable-driven parallel manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5939818"}},"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":"Q634972$7A2EDDD6-1BDD-4170-B16A-23A5E30F6061","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8d1c706a0a7053c7408b84729aee31578ea50a29","datavalue":{"value":{"text":"A generic force-closure analysis algorithm for cable-driven parallel manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q634972$CD0972F3-1DE9-4CAF-91B8-C8F419A2A7FD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cf531d3a01abebaa359e56c4033078b054014472","datavalue":{"value":"1219.70010","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q634972$FA716330-9B3F-4CE5-A198-EADB6707C833","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"678678dec07d3ecca76c0b0a89370f0d3e0dc2b1","datavalue":{"value":{"entity-type":"item","numeric-id":634970,"id":"Q634970"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$DA2E4D9D-C965-443B-90CD-D157EC8BB23F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d63c1a1fea21934580eaf1dd41a93ec2dda66474","datavalue":{"value":{"entity-type":"item","numeric-id":442540,"id":"Q442540"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$E5EB03F9-A94F-4B0C-9B45-305F8958BB75","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"43d25969a35a43720c838b0b91926488c50140da","datavalue":{"value":{"entity-type":"item","numeric-id":191610,"id":"Q191610"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$F2114C10-4017-4554-911C-E3C1C469895B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"90daae01b45b94d64166c7530b0e8efbb0e28383","datavalue":{"value":{"entity-type":"item","numeric-id":634971,"id":"Q634971"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$0543F807-8214-479E-9023-A5A3AB361769","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b54abea66bedd9716daf14bcb7a3f7fc0416c247","datavalue":{"value":{"entity-type":"item","numeric-id":129633,"id":"Q129633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$63C73A9B-B1CB-4DE8-B07A-EB9E1ADD7F46","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"cf253edeced6fad2edf52e73f99001914b4fc105","datavalue":{"value":{"time":"+2011-08-17T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q634972$4260195F-EFF5-4FF0-8E4E-B60D7E3F3407","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q634972$8E89D20D-490E-4295-A606-B82C0B065172","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a252122d6d2a4019268e7798b949a3a8b61150b1","datavalue":{"value":"5939818","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q634972$8D0C2DEF-5694-46F8-8E8C-73E0E6AFE9B8","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6d53dbbcb19138a463d1cd7f0dfdccfc93da901d","datavalue":{"value":"workspace analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q634972$FC926984-9AC0-4ED0-9D1D-BEC1F9AD73F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"434527b239c77939c3d176d984636f3015293856","datavalue":{"value":"cable-driven parallel manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q634972$8681643D-DEE6-4AD5-B05A-61F9AC1D6BEE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2a4d13410e7db18b750246cd74c1541f9ec61a2d","datavalue":{"value":"force-closure analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q634972$F1B5D62D-B6ED-4459-A704-024D477C5EE5","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":"Q634972$59CE8F23-3628-4EEE-AE96-5EE4257A1143","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"a08c2c5a2fdcb64444db0c40fcf42bc7e0adfc16","datavalue":{"value":"https://doi.org/10.1016/j.mechmachtheory.2011.04.006","type":"string"},"datatype":"url"},"type":"statement","id":"Q634972$7DEE93A4-2EBE-4E83-8C00-2BCFD9801524","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"978c507b1845ea4b0d6250a3af4e8b7f849c706b","datavalue":{"value":"W2079011950","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q634972$B98BC9EC-8518-458C-8C9C-1116FB8874B7","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"0a2f2b3d0638ea572a50304a2c945a3868d5d3d0","datavalue":{"value":{"entity-type":"item","numeric-id":1875969,"id":"Q1875969"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$AF672DD9-9315-4E81-9D3D-7B94E69B7693","rank":"normal"},{"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":"Q634972$697482A4-D1E6-4F5B-BF84-E01DF725C74C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fcb61cd1a948f95439ee55b4599fe16ca59aed2","datavalue":{"value":{"entity-type":"item","numeric-id":4857368,"id":"Q4857368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$941168CC-A6C7-4265-836B-D8EA8C651A07","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3be1984cc1fd4fda5d7d9806a992dc807995ad51","datavalue":{"value":{"entity-type":"item","numeric-id":2581742,"id":"Q2581742"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$4C25BF88-213A-4C8F-AD3D-DFFC7275C90D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"03557cbd918b8a8243c3226bcfbd382a844e571c","datavalue":{"value":{"entity-type":"item","numeric-id":5603731,"id":"Q5603731"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$8BA97F22-3CF5-4D1D-8028-C4913BA5754F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a02c3cd6c628579d7eff4f0425b4e762eb1f8cd1","datavalue":{"value":{"entity-type":"item","numeric-id":4106692,"id":"Q4106692"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q634972$3E578DA2-1FBB-4C2A-9FE2-2A33B998F044","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"36ca0d102f5404a0baa96fa5e8cf43f4b13b4f20","datavalue":{"value":"10.1016/J.MECHMACHTHEORY.2011.04.006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q634972$918923DC-3404-4A1A-868B-619989C0F1C7","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"50c8f9b068616af5de3055531bcc1211463247c7","datavalue":{"value":{"entity-type":"item","numeric-id":2581742,"id":"Q2581742"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"835aa2a976631d5e75915ec1c0c7fc320189e776","datavalue":{"value":{"amount":"+0.8786044120788574","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":"Q634972$6B2E7D0F-D7E2-4AA3-94CC-24173AB8959A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"394acb15ce09d330970e09b5e06bc5510e0f170e","datavalue":{"value":{"entity-type":"item","numeric-id":741835,"id":"Q741835"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0b72e4d40823aefac537ff33e47c1970bba78da5","datavalue":{"value":{"amount":"+0.8783736228942871","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":"Q634972$5C31B05F-BE0B-44D2-AF29-A5CA14879CF6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"01e7e7194040f82159890920e91c02944521c601","datavalue":{"value":{"entity-type":"item","numeric-id":2462738,"id":"Q2462738"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"525e0e77456b403ad6847db6f2b5da6d6cf8a059","datavalue":{"value":{"amount":"+0.7860617637634277","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":"Q634972$1DBC4EA3-82BC-4C50-BC42-1EA7BBA505A5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f81a0662e9a5f13a06f46b21291fdfe156fbb5e3","datavalue":{"value":{"entity-type":"item","numeric-id":2429865,"id":"Q2429865"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"509542651b546312ca8283786ccc27b4f035aaba","datavalue":{"value":{"amount":"+0.7771798968315125","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q634972$B4BCBE3C-8C84-45DB-BE75-50ED8E669444","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"155a76741b5ebb7f28a90b0ae31da04d788704a9","datavalue":{"value":{"entity-type":"item","numeric-id":3196248,"id":"Q3196248"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d1697d320d2c6466ce76de1481ef3a193ff59414","datavalue":{"value":{"amount":"+0.7746739983558655","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":"Q634972$6B6FB013-150A-43C4-976F-1437EFD6FF23","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:634972","badges":[]}}}}}