{"id":"https://openalex.org/W4410961668","doi":"https://doi.org/10.1017/s0263574725000670","title":"Force-position-workspace hybrid-based stability optimization of reconfigurable cable-driven parallel robot","display_name":"Force-position-workspace hybrid-based stability optimization of reconfigurable cable-driven parallel robot","publication_year":2025,"publication_date":"2025-06-01","ids":{"openalex":"https://openalex.org/W4410961668","doi":"https://doi.org/10.1017/s0263574725000670"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725000670","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725000670","pdf_url":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100628218","display_name":"Yakun Wang","orcid":"https://orcid.org/0009-0005-8848-8032"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yakun Wang","raw_affiliation_strings":["Hefei University of Technology"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102984652","display_name":"Daoming Wang","orcid":"https://orcid.org/0000-0002-3535-8470"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daoming Wang","raw_affiliation_strings":["Hefei University of Technology"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071285863","display_name":"Bin Zi","orcid":"https://orcid.org/0000-0003-0799-0329"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]},{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bin Zi","raw_affiliation_strings":["Hefei University of Technology","Xidian University"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"Xidian University","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100456041","display_name":"Dan Zhang","orcid":"https://orcid.org/0000-0002-7295-4837"},"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":"Dan Zhang","raw_affiliation_strings":["The Hong Kong Polytechnic University"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071285863"],"corresponding_institution_ids":["https://openalex.org/I149594827","https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":2.4989,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.89099222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"43","issue":"6","first_page":"2212","last_page":"2245"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.867805004119873},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6989607214927673},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5570762157440186},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.553557813167572},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5289226770401001},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5263277888298035},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.512764036655426},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3694208264350891},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3188856244087219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18482628464698792}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.867805004119873},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6989607214927673},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5570762157440186},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.553557813167572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5289226770401001},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5263277888298035},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.512764036655426},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3694208264350891},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3188856244087219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18482628464698792},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725000670","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725000670","pdf_url":null,"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1971118703","https://openalex.org/W1985121850","https://openalex.org/W2010921898","https://openalex.org/W2011296423","https://openalex.org/W2029584054","https://openalex.org/W2041698816","https://openalex.org/W2083297220","https://openalex.org/W2111063661","https://openalex.org/W2111455515","https://openalex.org/W2158050076","https://openalex.org/W2307744229","https://openalex.org/W2460495915","https://openalex.org/W2747746225","https://openalex.org/W2790687804","https://openalex.org/W2800839174","https://openalex.org/W2802527624","https://openalex.org/W2895873072","https://openalex.org/W2912320857","https://openalex.org/W2918440808","https://openalex.org/W2955042177","https://openalex.org/W2983661388","https://openalex.org/W2989272167","https://openalex.org/W3013745526","https://openalex.org/W3093987621","https://openalex.org/W3137229025","https://openalex.org/W3156467716","https://openalex.org/W3187226057","https://openalex.org/W4224095742","https://openalex.org/W4229050707","https://openalex.org/W4236990304","https://openalex.org/W4285287697","https://openalex.org/W4311154389","https://openalex.org/W4313245424","https://openalex.org/W4317399148","https://openalex.org/W4323256475","https://openalex.org/W4385780410","https://openalex.org/W4387026813","https://openalex.org/W4387319281","https://openalex.org/W4388145478","https://openalex.org/W4389280064","https://openalex.org/W4389659597","https://openalex.org/W4390939376","https://openalex.org/W4399366890","https://openalex.org/W4403469432","https://openalex.org/W6671157356","https://openalex.org/W6749214479"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2066019639","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2635001913","https://openalex.org/W1875852913","https://openalex.org/W1518655544","https://openalex.org/W3162047364"],"abstract_inverted_index":{"Abstract":[0],"Cable-driven":[1],"parallel":[2,46],"robots":[3],"(CDPRs)":[4],"have":[5],"been":[6],"widely":[7],"used":[8],"as":[9,128,134],"motion":[10,147,164],"executers":[11],"for":[12,42],"their":[13],"large":[14],"workspace":[15,41,84,126,150],"and":[16,73,95,122,130,132,146,149,166,169,181],"lower":[17],"inertia.":[18],"However,":[19],"there":[20],"are":[21,104,153],"few":[22],"studies":[23],"on":[24,39,65,86],"structural":[25,51],"optimization":[26,36,52],"design":[27],"considering":[28],"its":[29],"stability.":[30],"This":[31],"paper":[32],"proposes":[33],"a":[34,43],"stability":[35,108,178],"method":[37],"based":[38,64],"force-position":[40],"reconfigurable":[44],"cable-driven":[45],"robot":[47,143],"(RCDPR).":[48],"First,":[49],"the":[50,60,66,74,80,87,93,107,115,141,159,170,174,177],"analysis":[53],"of":[54,68,79,102,117,140,176],"RCDPR":[55,81,103,161],"is":[56,71,90,111,144],"carried":[57],"out.":[58],"Then,":[59],"forces":[61],"distribution":[62],"algorithm":[63,77],"feasibility":[67,175],"real-time":[69],"control":[70],"determined,":[72],"boundary":[75],"contour":[76],"(BCA)":[78],"force":[82,98],"feasible":[83,125],"(FFW)":[85],"central":[88],"plane":[89],"proposed.":[91],"Second,":[92],"stiffness":[94,131],"cables":[96],"driving":[97],"space":[99],"(CFS)":[100],"models":[101],"established.":[105],"Subsequently,":[106],"evaluation":[109,179],"function":[110,180],"established":[112],"to":[113],"optimize":[114],"structure":[116],"RCDPR,":[118],"which":[119],"uses":[120],"FFW":[121],"main":[123],"task":[124],"(MFW)":[127],"carriers":[129],"CFS":[133],"weights.":[135],"Finally,":[136],"an":[137],"experimental":[138],"prototype":[139],"developed":[142,160],"constructed,":[145],"performance":[148],"verification":[151],"experiments":[152],"conducted.":[154],"The":[155],"results":[156,171],"demonstrate":[157],"that":[158],"has":[162],"good":[163],"accuracy":[165],"stable":[167],"workspace,":[168],"also":[172],"verify":[173],"BCA.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
