{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,30]],"date-time":"2026-05-30T02:39:00Z","timestamp":1780108740046,"version":"3.54.0"},"reference-count":41,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2003,1,1]],"date-time":"2003-01-01T00:00:00Z","timestamp":1041379200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2003,1]]},"abstract":"<jats:p>The lower-mobility parallel mechanism (PM) has fewer than six degrees of freedom (DoFs) and requires fewer links, joints and actuators than its 6-DoF counterpart. Hence, the use of the lower-mobility PM may save much cost in those applications requiring less mobility. In this paper, the type synthesis of symmetrical lower-mobility PMs is performed systematically using the constraint-synthesis method. First, some important theoretical fundamentals of type synthesis of lower-mobility PMs are investigated, including a classification of symmetry of lower-mobility PMs, the identification of instantaneous mechanisms and input selection method. Moreover, the difficult problem of how to correctly apply the general Gr\u00fcbler-Kutzbach criterion to lower-mobility PMs is solved. A mobility analysis of PMs with a closed loop in the limbs is also presented to demonstrate the validity. The type synthesis of 5-DoF and 4-DoF PMs is then dealt with in detail. Enumerations of novel 5-DoF and 4-DoF PMs are presented. The characteristics of constraint and structure of 5-DoF and 4-DoF PMs are also proposed. In addition, some novel 3-DoF PMs are presented.<\/jats:p>","DOI":"10.1177\/0278364903022001005","type":"journal-article","created":{"date-parts":[[2003,7,10]],"date-time":"2003-07-10T22:56:46Z","timestamp":1057877806000},"page":"59-79","source":"Crossref","is-referenced-by-count":107,"title":["Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the                Constraint-Synthesis Method"],"prefix":"10.1177","volume":"22","author":[{"given":"Z.","family":"Huang","sequence":"first","affiliation":[{"name":"Robotics Research Center Yanshan University Qinhuangdao, Hebei, 066004 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Q. C.","family":"Li","sequence":"additional","affiliation":[{"name":"Robotics Research Center Yanshan University Qinhuangdao, Hebei, 066004 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2003,1,1]]},"reference":[{"key":"atypb1","unstructured":"Ball, R. 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