{"id":"https://openalex.org/W3159135443","doi":"https://doi.org/10.1017/s0263574721000266","title":"Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot","display_name":"Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot","publication_year":2021,"publication_date":"2021-05-04","ids":{"openalex":"https://openalex.org/W3159135443","doi":"https://doi.org/10.1017/s0263574721000266","mag":"3159135443"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574721000266","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574721000266","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/E9D605BB8DA2B0A8BFE558FD6E36AF9F/S0263574721000266a.pdf/div-class-title-analysis-and-multi-objective-optimal-design-of-a-planar-differentially-driven-cable-parallel-robot-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/E9D605BB8DA2B0A8BFE558FD6E36AF9F/S0263574721000266a.pdf/div-class-title-analysis-and-multi-objective-optimal-design-of-a-planar-differentially-driven-cable-parallel-robot-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100778734","display_name":"Ruobing Wang","orcid":"https://orcid.org/0000-0001-8363-0371"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruobing Wang","raw_affiliation_strings":["Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China","Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China E-mail:"],"affiliations":[{"raw_affiliation_string":"Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China E-mail:","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027712402","display_name":"Yangmin Li","orcid":"https://orcid.org/0000-0002-4448-3310"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Yangmin Li","raw_affiliation_strings":["Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China","Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China E-mail:"],"affiliations":[{"raw_affiliation_string":"Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China E-mail:","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027712402"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":1.1061,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.76775529,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"39","issue":"12","first_page":"2193","last_page":"2209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.9702188968658447},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8228147029876709},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.5823639631271362},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5683456063270569},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5641993284225464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5297808647155762},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5230485200881958},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.4982476234436035},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47661343216896057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4452452063560486},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.44515591859817505},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.4398791790008545},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4189910292625427},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33951491117477417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.334127813577652},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.30461448431015015},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2774418294429779},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15009751915931702},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11397197842597961}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.9702188968658447},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8228147029876709},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.5823639631271362},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5683456063270569},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5641993284225464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5297808647155762},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5230485200881958},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.4982476234436035},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47661343216896057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4452452063560486},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.44515591859817505},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.4398791790008545},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4189910292625427},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33951491117477417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.334127813577652},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.30461448431015015},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2774418294429779},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15009751915931702},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11397197842597961},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574721000266","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574721000266","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/E9D605BB8DA2B0A8BFE558FD6E36AF9F/S0263574721000266a.pdf/div-class-title-analysis-and-multi-objective-optimal-design-of-a-planar-differentially-driven-cable-parallel-robot-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/94537","is_oa":false,"landing_page_url":"http://hdl.handle.net/10397/94537","pdf_url":null,"source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal/Magazine Article"}],"best_oa_location":{"id":"doi:10.1017/s0263574721000266","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574721000266","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/E9D605BB8DA2B0A8BFE558FD6E36AF9F/S0263574721000266a.pdf/div-class-title-analysis-and-multi-objective-optimal-design-of-a-planar-differentially-driven-cable-parallel-robot-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322598","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3159135443.pdf","grobid_xml":"https://content.openalex.org/works/W3159135443.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1980953757","https://openalex.org/W1993940891","https://openalex.org/W2005596526","https://openalex.org/W2020966348","https://openalex.org/W2026862303","https://openalex.org/W2033692765","https://openalex.org/W2056545551","https://openalex.org/W2071647331","https://openalex.org/W2087355026","https://openalex.org/W2111398566","https://openalex.org/W2126105956","https://openalex.org/W2591901555","https://openalex.org/W2729075873","https://openalex.org/W2795231997","https://openalex.org/W2809419245","https://openalex.org/W2895873072","https://openalex.org/W2899621688","https://openalex.org/W2899753591","https://openalex.org/W2953106851","https://openalex.org/W2990069465","https://openalex.org/W3013745526","https://openalex.org/W3093987621"],"related_works":["https://openalex.org/W2120734204","https://openalex.org/W1965047598","https://openalex.org/W2186618162","https://openalex.org/W2183472499","https://openalex.org/W2158050076","https://openalex.org/W2145622176","https://openalex.org/W4226242789","https://openalex.org/W2416519951","https://openalex.org/W2008508241","https://openalex.org/W2020966348"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"work,":[3],"a":[4,96],"planar":[5],"cable":[6],"parallel":[7],"robot":[8],"(CPR)":[9],"driven":[10,86],"by":[11,25,90],"four":[12],"cable-and-pulley":[13,21],"differentials":[14],"is":[15,23,88],"proposed":[16,59,84],"and":[17,40,76],"analyzed.":[18],"A":[19],"new":[20],"differential":[22],"designed":[24],"adding":[26],"an":[27],"extra":[28],"pulley":[29,38,52],"to":[30,36],"eliminate":[31],"the":[32,37,42,46,51,58,68,77],"modeling":[33],"inaccuracies":[34],"due":[35],"radius":[39],"obviate":[41],"need":[43],"of":[44,57],"solving":[45],"complex":[47],"model":[48],"which":[49],"considers":[50],"kinematics.":[53],"The":[54,83],"design":[55,66],"parameters":[56],"CPR":[60,87],"are":[61],"determined":[62],"through":[63],"multi-objective":[64],"optimal":[65],"for":[67],"largest":[69],"total":[70],"orientation":[71],"wrench":[72],"closure":[73],"workspace":[74],"(TOWCW)":[75],"highest":[78],"global":[79],"stiffness":[80],"magnitude":[81],"index.":[82],"differentially":[85],"evaluated":[89],"comparing":[91],"various":[92],"performance":[93],"indices":[94],"with":[95],"fully":[97],"actuated":[98],"CPR.":[99]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
