{"entities":{"Q947223":{"pageid":949071,"ns":120,"title":"Item:Q947223","lastrevid":65585664,"modified":"2026-04-12T03:36:47Z","type":"item","id":"Q947223","labels":{"en":{"language":"en","value":"Heavy tools manipulation by low powered direct-drive five-bar parallel robot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5348321"}},"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":"Q947223$7FE0E04B-949C-4EA9-B5D5-0C53685E17D7","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"861fc1a5f8a93a46035e59f544c3d9441098243b","datavalue":{"value":{"text":"Heavy tools manipulation by low powered direct-drive five-bar parallel robot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q947223$9CCEDD29-8E22-41D2-AC7C-2E8B22A22749","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e2bf920b915394aa2fd232386f369f446576df46","datavalue":{"value":"1291.70019","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q947223$7E3EEE06-E3DC-4C6C-A38F-1061A3B66916","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"cb580cca7f04f5dca4d2d46d1b011dcebe9218e1","datavalue":{"value":{"entity-type":"item","numeric-id":509397,"id":"Q509397"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$7F4DDED4-41DD-455D-96F4-8ABB5F9BDAE4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1b1876b7936d1dc140d2d7be41f35e2d36b9bead","datavalue":{"value":{"entity-type":"item","numeric-id":947221,"id":"Q947221"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$C63E4392-174E-48CA-BCA7-2834940EE210","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fa075e9109a84f86054c39c96d64aac4ff429fd4","datavalue":{"value":{"entity-type":"item","numeric-id":947222,"id":"Q947222"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$F0374393-74BB-49E8-9EE5-D9159597BDD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"485b5c1ede03c8c18507e3e96f9217d45b75dbd1","datavalue":{"value":{"entity-type":"item","numeric-id":458890,"id":"Q458890"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$E7FB2046-7A5D-492C-BB98-92E7757253B1","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":"Q947223$ABC347E0-AF31-47C6-B5A5-06834442B223","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"bf6f7b353a66969518a90b0af004266817357ae3","datavalue":{"value":{"time":"+2008-09-29T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q947223$DFFCBBB1-B3E0-4591-BDF3-AE7FCD4E1185","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q947223$A4326925-1D53-42D3-ACC5-A261BF3D2F3A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q947223$49191EE9-0CA6-4C5C-8C1B-0E271AA65223","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c4f0af01d9c547048c0a488bce69c4ec8bc620c5","datavalue":{"value":"5348321","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q947223$63D20375-41BE-4FA9-B356-AD92CCC2DB11","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"77760d48d536941509570cdb6b3cf593929667b3","datavalue":{"value":"spring balancer","type":"string"},"datatype":"string"},"type":"statement","id":"Q947223$18452841-E692-492B-9971-986E833E0D71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4892863a8372d24ae96d668c5d088d8ad303ea90","datavalue":{"value":"suspended tool system","type":"string"},"datatype":"string"},"type":"statement","id":"Q947223$271A8510-DC6A-42F9-8353-2469A674821D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8d37359014437463c9404e0aff548fdfc49791ff","datavalue":{"value":"Cartesian base position control","type":"string"},"datatype":"string"},"type":"statement","id":"Q947223$F5FE8270-9BF9-4B6C-8413-CCCB112AA4D2","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":"Q947223$6DBD6612-EDDA-44E0-80BD-3E50F353A567","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"84eb508ad6ecd6f8190db211bcc2b8723276db11","datavalue":{"value":"https://doi.org/10.1016/j.mechmachtheory.2007.11.004","type":"string"},"datatype":"url"},"type":"statement","id":"Q947223$C3E1CC3E-E42A-4087-A5DB-31A68F3218C9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"2d0fc95e82f9db97bc289cbf26823b07533d93f4","datavalue":{"value":"W2055338307","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q947223$474F14BA-465B-4987-BFED-1C0402477A8B","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"7d6211d053548f11e1a9892d5d97fb06a76e7d46","datavalue":{"value":{"entity-type":"item","numeric-id":1088960,"id":"Q1088960"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$4E91B74A-BE15-4B9A-A4ED-D50C63E4F236","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"769aeda8e4ebe42c0a80980adcb5bde6c2f4ac7d","datavalue":{"value":{"entity-type":"item","numeric-id":3393937,"id":"Q3393937"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$5F20851B-BA4E-485C-BF49-1684999375ED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"83b3c2a99b8eb74dbd56079358331bbb76d5ae46","datavalue":{"value":{"entity-type":"item","numeric-id":1577041,"id":"Q1577041"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$CDFCFF48-7650-4141-B2D4-3FE5C7279623","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2b4417f11ec888e525e6ec62151466ef0876edb5","datavalue":{"value":{"entity-type":"item","numeric-id":4695077,"id":"Q4695077"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$717EA4D8-E79F-47C9-B5CB-0EB1DB68F261","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1957fd39251cd1b0e8b7c4f6bbe6804c75f6810b","datavalue":{"value":{"entity-type":"item","numeric-id":1298263,"id":"Q1298263"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$CDC18F6B-5658-4689-B3D1-2EA518DD1BFD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c02d6593b8ad9c2383e22aae0393688cd6c746c1","datavalue":{"value":{"entity-type":"item","numeric-id":1858859,"id":"Q1858859"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$B3EF57DA-5B50-49F0-8F4B-92F03681C4CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"20773ea002621b22719905e28535be3ae24a99ec","datavalue":{"value":{"entity-type":"item","numeric-id":1094369,"id":"Q1094369"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$6F7D6071-A3C4-4F79-8A56-F95A80A00F4B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fcc6da59e839a9ca3151fcb8b8a90a3c40f38b53","datavalue":{"value":{"entity-type":"item","numeric-id":1104294,"id":"Q1104294"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q947223$52C405A3-26B8-4921-8E17-4D997A9E71CC","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"efc808c5ced5fc548b9e2143286c03229657b82b","datavalue":{"value":"10.1016/J.MECHMACHTHEORY.2007.11.004","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q947223$10DE026D-18C4-40AD-815D-BA919726EC6F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9b663f54fc2c55eb5c6a874dccc596529690bcd0","datavalue":{"value":{"entity-type":"item","numeric-id":1301025,"id":"Q1301025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c61a98582253f12c72183a1120cd34dab57c85ea","datavalue":{"value":{"amount":"+0.6840087175369263","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":"Q947223$2B84666F-86D8-4688-870E-35AD385BA3A6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"21df869c58a3ae93591e8d6eb6ea20a1aa476b4a","datavalue":{"value":{"entity-type":"item","numeric-id":1634569,"id":"Q1634569"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"054f613bdb5fb08932f645cf368dc4e77bbcfd6b","datavalue":{"value":{"amount":"+0.654174268245697","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":"Q947223$194A4321-DE16-4C77-8EFE-3503C8F53C02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"84ab061cf307ca6089114ca81e37ac90ff57411b","datavalue":{"value":{"entity-type":"item","numeric-id":1765941,"id":"Q1765941"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e6f0c33ee76ea5b8bc09ba4aa453cb345a5db1f1","datavalue":{"value":{"amount":"+0.6482841968536377","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q947223$FEC95547-254C-4963-9D40-5B2B007105A2","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":"c376fcfd503ec7e2ba023e65de3b9f0b5374ec01","datavalue":{"value":{"amount":"+0.6473091244697571","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":"Q947223$D48A2F61-7E8C-414A-8F53-ECD3499923F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"902ec5d5492f0822e0308ff30926d58d6463feea","datavalue":{"value":{"entity-type":"item","numeric-id":2500498,"id":"Q2500498"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8e39c068e381371d4f3b55ce03de22f24daa3a6c","datavalue":{"value":{"amount":"+0.6439225077629089","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q947223$B5FCDC6D-F285-48DB-A911-DE7E951EC6F1","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Heavy tools manipulation by low powered direct-drive five-bar parallel robot","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Heavy_tools_manipulation_by_low_powered_direct-drive_five-bar_parallel_robot"}}}}}