{"id":"https://openalex.org/W4312746648","doi":"https://doi.org/10.1109/iros47612.2022.9982214","title":"An All-in-one Cable-driven Parallel Robot with Flexible Workspace and Its Auto-calibration Method","display_name":"An All-in-one Cable-driven Parallel Robot with Flexible Workspace and Its Auto-calibration Method","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312746648","doi":"https://doi.org/10.1109/iros47612.2022.9982214"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982214","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-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/A5037421109","display_name":"Hao An","orcid":"https://orcid.org/0000-0002-4974-1876"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hao An","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,PR,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, PR, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,PR,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, PR, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104172348","display_name":"Hang Liu","orcid":"https://orcid.org/0000-0002-3486-7863"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Liu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,PR,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, PR, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,PR,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, PR, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035743938","display_name":"Xintian Liu","orcid":"https://orcid.org/0000-0002-3395-9176"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xintian Liu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,PR,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, PR, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,PR,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, PR, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047200010","display_name":"Han Yuan","orcid":"https://orcid.org/0000-0003-2842-9725"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Yuan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,PR,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, PR, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,PR,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, PR, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037421109"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":3.8884,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.96052235,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7345","last_page":"7351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.996999979019165,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9934999942779541,"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/workspace","display_name":"Workspace","score":0.9383060932159424},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.7801460027694702},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.7091015577316284},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6742352247238159},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5955199003219604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5930449962615967},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.558417558670044},{"id":"https://openalex.org/keywords/winch","display_name":"Winch","score":0.5548047423362732},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5512477159500122},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.45939159393310547},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4539863169193268},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4129633605480194},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35604357719421387},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33478865027427673},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22591689229011536},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20311641693115234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18829742074012756}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9383060932159424},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7801460027694702},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.7091015577316284},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6742352247238159},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5955199003219604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5930449962615967},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.558417558670044},{"id":"https://openalex.org/C116168119","wikidata":"https://www.wikidata.org/wiki/Q258534","display_name":"Winch","level":2,"score":0.5548047423362732},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5512477159500122},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.45939159393310547},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4539863169193268},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4129633605480194},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35604357719421387},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33478865027427673},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22591689229011536},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20311641693115234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18829742074012756},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982214","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1710974567","display_name":null,"funder_award_id":"62173114","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W32277538","https://openalex.org/W33411722","https://openalex.org/W74641256","https://openalex.org/W565943087","https://openalex.org/W1761151984","https://openalex.org/W1988058184","https://openalex.org/W1992225021","https://openalex.org/W2056452519","https://openalex.org/W2069319193","https://openalex.org/W2109873680","https://openalex.org/W2119486150","https://openalex.org/W2123833118","https://openalex.org/W2137079522","https://openalex.org/W2167144998","https://openalex.org/W2167148879","https://openalex.org/W2304955063","https://openalex.org/W2586993859","https://openalex.org/W2728769713","https://openalex.org/W2752104658","https://openalex.org/W2762139206","https://openalex.org/W2884962176","https://openalex.org/W2947530859","https://openalex.org/W2950667156","https://openalex.org/W3013390356","https://openalex.org/W3047654941","https://openalex.org/W4235118199","https://openalex.org/W6687744587"],"related_works":["https://openalex.org/W2388215802","https://openalex.org/W2362652060","https://openalex.org/W2066019639","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2635001913","https://openalex.org/W1518655544","https://openalex.org/W2158938020"],"abstract_inverted_index":{"For":[0,69],"traditional":[1],"cable-driven":[2],"parallel":[3],"robots":[4],"(CD-PRs),":[5],"changing":[6],"the":[7,16,20,28,33,45,61,70,74,76,79,87,94,97,101,124,145,153,156,167],"workspace":[8],"is":[9,26,30,136],"relatively":[10],"difficult,":[11],"which":[12],"needs":[13],"to":[14,43,64,83,86,93,165],"reconfigure":[15],"anchor":[17,89,102,158],"points":[18,103],"and":[19,36,139,144,169],"external":[21],"frame.":[22],"The":[23],"main":[24],"reason":[25],"that":[27,56,149],"winch":[29],"separated":[31],"from":[32],"moving":[34,62],"platform,":[35],"a":[37,51,66,114],"series":[38],"of":[39,73,78,100,155],"pulleys":[40],"are":[41,141],"applied":[42],"guide":[44],"driving":[46],"cables.":[47],"This":[48],"paper":[49],"proposes":[50],"novel":[52],"all-in-one":[53],"suspended":[54],"CDPR":[55],"integrates":[57],"all":[58],"components":[59],"in":[60,118],"platform":[63],"realize":[65],"flexible":[67,95],"workspace.":[68],"rapid":[71,115],"construction":[72],"CDPR,":[75],"ends":[77],"cables":[80],"only":[81],"need":[82],"be":[84,105],"connected":[85],"existing":[88],"point.":[90],"However,":[91],"due":[92],"workspace,":[96],"position":[98],"values":[99],"should":[104],"recalibrated":[106],"by":[107,112],"appropriate":[108],"calibration":[109],"methods,":[110],"especially":[111],"using":[113],"auto-calibration":[116,131],"method":[117,132],"application":[119],"sites.":[120],"Thus,":[121],"based":[122],"on":[123],"kinetostatic":[125],"model":[126],"considering":[127],"sagging":[128],"cable,":[129],"an":[130,134],"with":[133],"inclinometer":[135],"proposed.":[137],"Simulation":[138],"experiment":[140,146],"conducted":[142],"respectively,":[143],"results":[147],"indicate":[148],"78.56%":[150],"totally":[151],"reduces":[152],"errors":[154],"fixed":[157],"points.":[159],"Moreover,":[160],"experiments":[161],"were":[162],"carried":[163],"out":[164],"validate":[166],"design":[168],"kinematics.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2025-10-10T00:00:00"}