{"id":"https://openalex.org/W7129061843","doi":"https://doi.org/10.1109/lra.2026.3665074","title":"Design of a Motion Decoupled 1R1T Cable Driven Parallel Robot","display_name":"Design of a Motion Decoupled 1R1T Cable Driven Parallel Robot","publication_year":2026,"publication_date":"2026-02-16","ids":{"openalex":"https://openalex.org/W7129061843","doi":"https://doi.org/10.1109/lra.2026.3665074"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3665074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3665074","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/A5074838093","display_name":"Ziyi Liu","orcid":"https://orcid.org/0009-0005-5511-8713"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziyi Liu","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126104005","display_name":"Hongbao Chu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbao Chu","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087353591","display_name":"Zhigang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wu","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126087352","display_name":"Chao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Zhang","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126107846","display_name":"Xiaoqiang Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqiang Tang","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5074838093"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.75863642,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4449","last_page":"4456"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9297000169754028,"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":0.9297000169754028,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.016499999910593033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.005900000222027302,"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/parallel-manipulator","display_name":"Parallel manipulator","score":0.7250000238418579},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.6427000164985657},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6015999913215637},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5864999890327454},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.566100001335144},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5521000027656555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5356000065803528},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5282999873161316}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7250000238418579},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.6427000164985657},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6015999913215637},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5864999890327454},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.566100001335144},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5521000027656555},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5453000068664551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5356000065803528},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5282999873161316},{"id":"https://openalex.org/C2988296624","wikidata":"https://www.wikidata.org/wiki/Q211459","display_name":"Translational motion","level":2,"score":0.5152999758720398},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.48570001125335693},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3889999985694885},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36059999465942383},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3425000011920929},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3343000113964081},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.2870999872684479},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2793999910354614},{"id":"https://openalex.org/C127635394","wikidata":"https://www.wikidata.org/wiki/Q715746","display_name":"Circular motion","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26019999384880066},{"id":"https://openalex.org/C2778512855","wikidata":"https://www.wikidata.org/wiki/Q6036808","display_name":"Input shaping","level":4,"score":0.25380000472068787}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3665074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3665074","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":[{"score":0.5294721722602844,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Cable":[0],"driven":[1],"parallel":[2],"robot":[3],"(CDPR)":[4],"possesses":[5],"large":[6],"workspace,":[7],"outstanding":[8],"dynamic":[9],"performance":[10,98],"and":[11,30,33,52,85,95,106,116,119],"high":[12],"load":[13],"capacity.":[14],"However,":[15],"due":[16],"to":[17],"the":[18,57,60,73,100,117,131],"actuation":[19],"method":[20,51],"of":[21,45,62,93,99,139],"CDPR,":[22,46],"only":[23],"limited":[24],"motion":[25,88,132],"modes":[26],"can":[27,122],"be":[28,123],"achieved,":[29],"its":[31],"rotational":[32,120],"translational":[34,118],"motions":[35,114,121],"are":[36,111],"usually":[37],"coupled.":[38],"This":[39],"letter":[40],"presents":[41],"a":[42,81],"novel":[43,82],"design":[44,78,101],"through":[47,104],"applying":[48],"winch-integrated":[49],"driving":[50,54,63],"wrapping":[53],"cables":[55],"around":[56],"moving":[58,68],"platform,":[59],"positions":[61],"cables'":[64],"attach":[65],"points":[66],"on":[67],"platform":[69],"adaptively":[70],"vary":[71],"with":[72,90],"movement.":[74],"The":[75,97,126],"proposed":[76,127],"CDPR":[77],"naturally":[79],"enables":[80],"planar":[83],"one-translational":[84],"one-rotational":[86],"(1R1T)":[87],"mode":[89,133],"decoupled":[91],"control":[92],"translation":[94],"rotation.":[96],"is":[102],"validated":[103],"simulation":[105],"experiment,":[107],"confirming":[108],"that":[109],"there":[110],"no":[112],"other":[113],"generated":[115],"controlled":[124],"independently.":[125],"configuration":[128],"further":[129],"expands":[130],"as":[134,136],"well":[135],"operational":[137],"capabilities":[138],"CDPR.":[140]},"counts_by_year":[],"updated_date":"2026-02-27T14:28:36.762950","created_date":"2026-02-17T00:00:00"}