{"id":"https://openalex.org/W3165457268","doi":"https://doi.org/10.1108/ir-01-2021-0011","title":"A novel series-parallel hybrid robot for climbing transmission tower","display_name":"A novel series-parallel hybrid robot for climbing transmission tower","publication_year":2021,"publication_date":"2021-05-18","ids":{"openalex":"https://openalex.org/W3165457268","doi":"https://doi.org/10.1108/ir-01-2021-0011","mag":"3165457268"},"language":"en","primary_location":{"id":"doi:10.1108/ir-01-2021-0011","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2021-0011","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5110771612","display_name":"Yanzhang Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanzhang Yao","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011474402","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0001-7930-9147"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001798766","display_name":"Yue Qiao","orcid":"https://orcid.org/0000-0001-8669-2375"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Qiao","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030144354","display_name":"Zhihang He","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihang He","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100708319","display_name":"Fusheng Liu","orcid":"https://orcid.org/0000-0003-0162-8361"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fusheng Liu","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740146","display_name":"Xuelong Li","orcid":"https://orcid.org/0000-0003-2037-2525"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuelong Li","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028906783","display_name":"Xinxin Liu","orcid":"https://orcid.org/0009-0002-7525-3400"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinxin Liu","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108664646","display_name":"Dehua Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dehua Zou","raw_affiliation_strings":["Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (Robot), Changsha , Hunan, China"],"affiliations":[{"raw_affiliation_string":"Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (Robot), Changsha , Hunan, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100378774","display_name":"Tong Zhang","orcid":"https://orcid.org/0000-0002-0683-4669"},"institutions":[{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Zhang","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5110771612"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":1.3332,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.77644191,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"48","issue":"4","first_page":"577","last_page":"588"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13715","display_name":"Power Line Inspection Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10868","display_name":"Soft Robotics and Applications","score":0.9922999739646912,"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/climb","display_name":"Climb","score":0.7864153385162354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7161350250244141},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6537430286407471},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5471332669258118},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4435759484767914},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.42070719599723816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4172603487968445},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3955046236515045},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3181002736091614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31229260563850403},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09812116622924805}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.7864153385162354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7161350250244141},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6537430286407471},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5471332669258118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4435759484767914},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.42070719599723816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4172603487968445},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3955046236515045},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3181002736091614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31229260563850403},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09812116622924805},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-01-2021-0011","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2021-0011","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W40111655","https://openalex.org/W188488395","https://openalex.org/W1486021556","https://openalex.org/W1972192057","https://openalex.org/W1996542214","https://openalex.org/W2013486256","https://openalex.org/W2032747191","https://openalex.org/W2038208277","https://openalex.org/W2042382751","https://openalex.org/W2054686594","https://openalex.org/W2059144238","https://openalex.org/W2059163735","https://openalex.org/W2065039610","https://openalex.org/W2070910520","https://openalex.org/W2077730979","https://openalex.org/W2100511318","https://openalex.org/W2104013074","https://openalex.org/W2160074040","https://openalex.org/W2166018205","https://openalex.org/W2209472323","https://openalex.org/W2496362665","https://openalex.org/W2518591596","https://openalex.org/W2582651197","https://openalex.org/W2738201254","https://openalex.org/W2785105294","https://openalex.org/W2789129126","https://openalex.org/W3001488665","https://openalex.org/W3002355869","https://openalex.org/W3094318248"],"related_works":["https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W2687281440","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880"],"abstract_inverted_index":{"Purpose":[0],"The":[1,53,118,154],"purpose":[2],"of":[3,13,37,42,55,74,125,141,164],"this":[4,96],"paper":[5,97],"is":[6,79,139,157],"to":[7,20,70,81,159],"describe":[8],"the":[9,23,56,60,65,75,84,88,93,105,123,126,137,144,148,168,171],"design":[10,73,124],"and":[11,39,103,133,166,170],"development":[12],"a":[14,32,50,71],"novel":[15],"series-parallel":[16],"robot,":[17,34,127],"which":[18,35,128],"aims":[19],"climb":[21,160],"on":[22,64,92],"transmission":[24,85],"tower.":[25],"Design":[26],"methodology":[27],"approach":[28],"This":[29],"study":[30],"introduces":[31],"hybrid":[33,155],"consists":[36],"adsorption":[38],"two":[40],"3-degree":[41],"freedom":[43],"(DOF)":[44],"translation":[45],"parallel":[46],"legs":[47,57],"connected":[48],"by":[49],"body":[51],"linkage.":[52],"DOF":[54],"ensures":[58],"that":[59,121,136],"robot":[61,94,138,156],"can":[62,174],"move":[63],"climbing":[66,101,110,142,150],"plane,":[67],"also":[68],"contribute":[69],"compact":[72],"robot.":[76],"An":[77],"electromagnet":[78],"used":[80,130],"adsorb":[82],"onto":[83],"tower,":[86],"simplifying":[87],"overall":[89],"structure.":[90],"Based":[91],"design,":[95],"further":[98],"defines":[99],"its":[100],"gait":[102],"adopt":[104],"6th":[106],"B-spline":[107],"curves":[108],"for":[109],"trajectory":[111],"planning":[112],"under":[113,161],"different":[114],"working":[115],"environments.":[116],"Findings":[117],"developed":[119],"prototype":[120],"implements":[122],"was":[129],"in":[131,143],"simulation":[132],"experiments,":[134],"showing":[135],"capable":[140],"test":[145],"environments":[146],"with":[147],"planned":[149],"gait.":[151],"Originality":[152],"value":[153],"able":[158],"varying":[162],"degrees":[163],"inclinations":[165],"cross":[167],"obstacles,":[169],"magnetic":[172],"attraction":[173],"ensure":[175],"stable":[176],"climbing.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}
