{"id":"https://openalex.org/W4403278753","doi":"https://doi.org/10.1109/mesa61532.2024.10704885","title":"Design of a 6-DOF Aerial Hybrid Cable-Driven Parallel Manipulator","display_name":"Design of a 6-DOF Aerial Hybrid Cable-Driven Parallel Manipulator","publication_year":2024,"publication_date":"2024-09-02","ids":{"openalex":"https://openalex.org/W4403278753","doi":"https://doi.org/10.1109/mesa61532.2024.10704885"},"language":"en","primary_location":{"id":"doi:10.1109/mesa61532.2024.10704885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mesa61532.2024.10704885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","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/A5059132460","display_name":"Kong Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I27577105","display_name":"University College Cork","ror":"https://ror.org/03265fv13","country_code":"IE","type":"education","lineage":["https://openalex.org/I27577105"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Kong Zhang","raw_affiliation_strings":["University College Cork,School of Engineering and Architecture Marine and Renewable Energy Ireland,Cork,Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College Cork,School of Engineering and Architecture Marine and Renewable Energy Ireland,Cork,Ireland","institution_ids":["https://openalex.org/I27577105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064813063","display_name":"Guangbo Hao","orcid":"https://orcid.org/0000-0002-5930-5453"},"institutions":[{"id":"https://openalex.org/I27577105","display_name":"University College Cork","ror":"https://ror.org/03265fv13","country_code":"IE","type":"education","lineage":["https://openalex.org/I27577105"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Guangbo Hao","raw_affiliation_strings":["University College Cork,School of Engineering and Architecture,Cork,Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College Cork,School of Engineering and Architecture,Cork,Ireland","institution_ids":["https://openalex.org/I27577105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034110857","display_name":"Vikram Pakrashi","orcid":"https://orcid.org/0000-0002-8318-3521"},"institutions":[{"id":"https://openalex.org/I100930933","display_name":"University College Dublin","ror":"https://ror.org/05m7pjf47","country_code":"IE","type":"education","lineage":["https://openalex.org/I100930933"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Vikram Pakrashi","raw_affiliation_strings":["University College Dublin,UCD Centre for Mechanics School of Mechanical and Materials Engineering,Dublin,Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College Dublin,UCD Centre for Mechanics School of Mechanical and Materials Engineering,Dublin,Ireland","institution_ids":["https://openalex.org/I100930933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073308016","display_name":"Jimmy Murphy","orcid":"https://orcid.org/0000-0001-9814-1255"},"institutions":[{"id":"https://openalex.org/I27577105","display_name":"University College Cork","ror":"https://ror.org/03265fv13","country_code":"IE","type":"education","lineage":["https://openalex.org/I27577105"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Jimmy Murphy","raw_affiliation_strings":["University College Cork,School of Engineering and Architecture Marine and Renewable Energy Ireland,Cork,Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College Cork,School of Engineering and Architecture Marine and Renewable Energy Ireland,Cork,Ireland","institution_ids":["https://openalex.org/I27577105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032514931","display_name":"Philip Long","orcid":"https://orcid.org/0000-0002-0784-8720"},"institutions":[{"id":"https://openalex.org/I4387152698","display_name":"Atlantic Technological University","ror":"https://ror.org/0458dap48","country_code":null,"type":"education","lineage":["https://openalex.org/I4387152698"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Philip Long","raw_affiliation_strings":["Atlantic Technological University,Department of Mechanical & Industrial Engineering,Galway,Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Atlantic Technological University,Department of Mechanical & Industrial Engineering,Galway,Ireland","institution_ids":["https://openalex.org/I4387152698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51470087,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9945999979972839,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9922999739646912,"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/parallel-manipulator","display_name":"Parallel manipulator","score":0.6421887874603271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5331078767776489},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.47579750418663025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29263320565223694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11118736863136292}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6421887874603271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5331078767776489},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.47579750418663025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29263320565223694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11118736863136292}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mesa61532.2024.10704885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mesa61532.2024.10704885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8199999928474426,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1963715236","https://openalex.org/W1971118703","https://openalex.org/W1985121850","https://openalex.org/W2055913619","https://openalex.org/W2071647331","https://openalex.org/W2078390594","https://openalex.org/W2097166318","https://openalex.org/W2111455515","https://openalex.org/W2187847046","https://openalex.org/W2201166900","https://openalex.org/W2302334718","https://openalex.org/W2566215047","https://openalex.org/W2567501038","https://openalex.org/W2792083172","https://openalex.org/W2890593015","https://openalex.org/W2893573101","https://openalex.org/W2900901249","https://openalex.org/W2907088221","https://openalex.org/W2922320344","https://openalex.org/W2946003172","https://openalex.org/W2983661388","https://openalex.org/W3124795425","https://openalex.org/W3139966868","https://openalex.org/W4207070365","https://openalex.org/W4235118199","https://openalex.org/W4243008427","https://openalex.org/W4249667877","https://openalex.org/W4287877815","https://openalex.org/W4293192926","https://openalex.org/W4296895138","https://openalex.org/W4385806713","https://openalex.org/W4389659597","https://openalex.org/W4391344795","https://openalex.org/W6698003021","https://openalex.org/W6792147796","https://openalex.org/W6856127139"],"related_works":["https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W2067594477","https://openalex.org/W2385739135","https://openalex.org/W1981988083","https://openalex.org/W2394251694"],"abstract_inverted_index":{"This":[0,76],"paper":[1],"presents":[2],"the":[3,30,46,53,59,63,65,70,73,79,86,92,99,104,107,110,113,117,131,134,138,144],"design":[4],"of":[5,33,109,115,133],"a":[6,15,23,41],"6-degreeof-freedom":[7],"(DOF)":[8],"hybrid":[9],"cable-driven":[10],"parallel":[11],"manipulator":[12],"(HCDPM)":[13],"with":[14,22],"central":[16,66,118],"elastic":[17],"rod.":[18],"HCDPM":[19],"is":[20],"integrated":[21],"multi-rotor":[24],"unmanned":[25],"aerial":[26],"vehicle":[27],"(UAV)":[28],"for":[29],"contact":[31],"inspection":[32],"floating":[34],"offshore":[35],"wind":[36],"turbines":[37],"(FOWTs)":[38],"by":[39,91],"delivering":[40],"sensor.":[42],"Flexible":[43],"cables":[44,74],"allow":[45],"end-effector":[47],"(EE)":[48],"to":[49,52,62,81,98],"actively":[50],"adapt":[51],"target\u2019s":[54],"movements":[55,94],"during":[56],"approach.":[57],"Once":[58],"EE":[60,71],"attaches":[61],"target,":[64],"rod":[67,119,135],"detaches":[68],"from":[69,85],"and":[72,95,112,124,143],"slacken.":[75],"setup":[77],"enables":[78],"sensor":[80],"directly":[82],"detect":[83],"signals":[84],"FOWTs":[87],"without":[88],"being":[89],"influenced":[90],"UAV\u2019s":[93],"vibrations,":[96],"thanks":[97],"unidirectional":[100],"tension":[101],"transmission":[102],"in":[103],"cables.":[105],"Finally,":[106],"accuracy":[108],"modeling":[111],"significance":[114],"introducing":[116],"were":[120],"validated":[121],"through":[122],"co-simulation":[123],"workspace":[125],"calculation.":[126],"The":[127],"results":[128],"indicate":[129],"that":[130],"inclusion":[132],"significantly":[136],"improves":[137],"model\u2019s":[139],"precision,":[140],"design\u2019s":[141],"stiffness,":[142],"workspace.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}