{"id":"https://openalex.org/W4210722620","doi":"https://doi.org/10.1109/lra.2022.3144776","title":"Design and Stiffness Analysis of a Novel 7-DOF Cable-Driven Manipulator","display_name":"Design and Stiffness Analysis of a Novel 7-DOF Cable-Driven Manipulator","publication_year":2022,"publication_date":"2022-01-25","ids":{"openalex":"https://openalex.org/W4210722620","doi":"https://doi.org/10.1109/lra.2022.3144776"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3144776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3144776","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","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/A5043045505","display_name":"Shunxiang Pang","orcid":"https://orcid.org/0000-0003-2909-8518"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shunxiang Pang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031221880","display_name":"Weiwei Shang","orcid":"https://orcid.org/0000-0001-7541-2198"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Shang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412164","display_name":"Fei Zhang","orcid":"https://orcid.org/0000-0002-0584-8962"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Zhang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067451638","display_name":"Bin Zhang","orcid":"https://orcid.org/0000-0001-9619-1136"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Zhang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047621347","display_name":"Shuang Cong","orcid":"https://orcid.org/0000-0001-8101-0128"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Cong","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5043045505"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":3.042,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.91870763,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"2811","last_page":"2818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9962999820709229,"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":0.9952999949455261,"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/kinematics","display_name":"Kinematics","score":0.5540902018547058},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5426220893859863},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5292108654975891},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5284298062324524},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.5156168341636658},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.5087502598762512},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.43366336822509766},{"id":"https://openalex.org/keywords/shoulder-joint","display_name":"Shoulder joint","score":0.42681849002838135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4037303328514099},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3448190987110138},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3425818681716919},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.33030158281326294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32869505882263184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2895405888557434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17494690418243408},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16315758228302002},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1536182165145874},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1464424729347229}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5540902018547058},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5426220893859863},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5292108654975891},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5284298062324524},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.5156168341636658},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.5087502598762512},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.43366336822509766},{"id":"https://openalex.org/C2780457017","wikidata":"https://www.wikidata.org/wiki/Q1758798","display_name":"Shoulder joint","level":2,"score":0.42681849002838135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4037303328514099},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3448190987110138},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3425818681716919},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.33030158281326294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32869505882263184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2895405888557434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17494690418243408},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16315758228302002},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1536182165145874},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1464424729347229},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3144776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3144776","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2057356914","display_name":null,"funder_award_id":"51675501","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2357658514","display_name":null,"funder_award_id":"SKLRS-2021-KF-18","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G3701853210","display_name":null,"funder_award_id":"62173316","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7789788838","display_name":null,"funder_award_id":"2021M693075","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2035014647","https://openalex.org/W2044218253","https://openalex.org/W2052668588","https://openalex.org/W2066309255","https://openalex.org/W2078962607","https://openalex.org/W2079830066","https://openalex.org/W2164898903","https://openalex.org/W2169008203","https://openalex.org/W2169513627","https://openalex.org/W2239803303","https://openalex.org/W2297218263","https://openalex.org/W2342404624","https://openalex.org/W2413918388","https://openalex.org/W2560327116","https://openalex.org/W2569881884","https://openalex.org/W2747172592","https://openalex.org/W2909089990","https://openalex.org/W2909772305","https://openalex.org/W2910348050","https://openalex.org/W3044118814","https://openalex.org/W3046983221","https://openalex.org/W3081954207"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2537091977","https://openalex.org/W2053552914"],"abstract_inverted_index":{"The":[0,42,135],"lightweight":[1,17],"design":[2,44],"of":[3,12,45,57,66,70,83,112,119,126,144],"robots":[4],"is":[5,21],"an":[6,31],"important":[7],"factor":[8],"in":[9],"the":[10,46,50,54,58,62,67,71,81,94,110,113,116,120,123,127,140,145,149,174],"field":[11],"human-robot":[13],"interaction.":[14],"Thus,":[15],"a":[16,26,37],"7-DOF":[18],"cable-driven":[19],"manipulator":[20],"proposed":[22,78],"and":[23,36,52,86,122,129,148,160],"manufactured,":[24],"including":[25],"shoulder":[27,47],"joint":[28,33,39,48,147,151],"with":[29,34,40],"3-DOF,":[30],"elbow":[32,130,146],"1-DOF,":[35],"wrist":[38,87,128,150],"3-DOF.":[41],"offset":[43],"increases":[49],"workspace":[51],"facilitates":[53],"electrical":[55],"wiring":[56],"manipulator.":[59,114],"To":[60],"solve":[61],"cable":[63,74],"relaxation":[64],"problem":[65],"long-term":[68],"operation":[69],"manipulator,":[72],"novel":[73],"tensioning":[75,92],"mechanisms":[76],"are":[77,101,132,152],"based":[79,103],"on":[80,104],"characteristics":[82],"shoulder,":[84],"elbow,":[85],"joints,":[88],"which":[89,169],"enable":[90],"rapid":[91],"during":[93],"motion":[95],"process.":[96],"Moreover,":[97],"forward/inverse":[98],"kinematic":[99],"model":[100],"established":[102],"virtual":[105],"coupling":[106],"joints":[107,131],"to":[108,173],"analysis":[109],"performance":[111],"Both":[115],"tensile":[117],"tests":[118],"cables":[121],"stiffness":[124,142],"experiments":[125],"carried":[133],"out":[134],"experimental":[136],"results":[137],"show":[138],"that":[139],"maximum":[141],"values":[143],"1066.3":[153],"N":[154,162],"<inline-formula":[155,163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[156,164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[157,165],"notation=\"LaTeX\">$\\cdot$</tex-math></inline-formula>":[158,166],"m/rad":[159,167],"319.8":[161],"respectively,":[168],"can":[170],"be":[171],"comparable":[172],"human":[175],"arm.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}