I would say it's closer to ratchet and clank then sotc for game structure. (It definitely has the atmosphere of sotc) Less enemies and more puzzles in zelda (no guns obviously). In both the world slowly opens up so you can reach the next dungeon/planet.
If you liked flying around and exploring the little planets in crack in time you'll also like zelda windwaker. Big ocean overworld with lots of little islands to explore.
If you like zelda don't forget to pick up Okami, awesome zelda like game that outdoes zelda in certain areas. (Although be warned it has an even slower start then zelda, but it's worth it)







