{"id":"https://openalex.org/W4317383765","doi":"https://doi.org/10.1109/robio55434.2022.10011914","title":"Design, Kinematics and Control of a Modular Cable-Driven Manipulator for Fine Manipulation","display_name":"Design, Kinematics and Control of a Modular Cable-Driven Manipulator for Fine Manipulation","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383765","doi":"https://doi.org/10.1109/robio55434.2022.10011914"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011914","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5088580416","display_name":"Wenshuo Li","orcid":"https://orcid.org/0000-0002-1793-6353"},"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":"Wenshuo Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"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":"Wenfu Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022458634","display_name":"Boyang Lin","orcid":"https://orcid.org/0009-0006-0490-6821"},"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":"Boyang Lin","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027294858","display_name":"Lei Yan","orcid":"https://orcid.org/0000-0002-0503-7561"},"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":"Lei Yan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":2.9349,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.92444167,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"833","last_page":"838"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987000226974487,"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":0.9977999925613403,"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/modular-design","display_name":"Modular design","score":0.6963831186294556},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6821671724319458},{"id":"https://openalex.org/keywords/gimbal","display_name":"Gimbal","score":0.6309405565261841},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5317909121513367},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.5235759019851685},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5165013670921326},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.49561822414398193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4872199594974518},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.48598822951316833},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.48572689294815063},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.467048317193985},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4668740928173065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4590929448604584},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3571978211402893},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17601045966148376},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16159850358963013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10491687059402466}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6963831186294556},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6821671724319458},{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.6309405565261841},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5317909121513367},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.5235759019851685},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5165013670921326},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.49561822414398193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4872199594974518},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.48598822951316833},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.48572689294815063},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.467048317193985},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4668740928173065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4590929448604584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3571978211402893},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17601045966148376},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16159850358963013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10491687059402466},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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:10.1109/robio55434.2022.10011914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011914","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1139911907","display_name":null,"funder_award_id":"62203140","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2007386075","https://openalex.org/W2047589840","https://openalex.org/W2063797945","https://openalex.org/W2064043586","https://openalex.org/W2096645690","https://openalex.org/W2100790457","https://openalex.org/W2101667962","https://openalex.org/W2142991893","https://openalex.org/W2170836916","https://openalex.org/W2184993170","https://openalex.org/W2342205450","https://openalex.org/W2509395604","https://openalex.org/W2793556869","https://openalex.org/W2806185962","https://openalex.org/W2909846099","https://openalex.org/W2912068320","https://openalex.org/W2916819514","https://openalex.org/W2926374707","https://openalex.org/W2998989141","https://openalex.org/W2999660528","https://openalex.org/W3003028532","https://openalex.org/W3003338880","https://openalex.org/W3003845873","https://openalex.org/W3038681003","https://openalex.org/W3046983221","https://openalex.org/W3123507309","https://openalex.org/W3139269452","https://openalex.org/W3159847516","https://openalex.org/W3184036805","https://openalex.org/W3200868167"],"related_works":["https://openalex.org/W2365225477","https://openalex.org/W154709440","https://openalex.org/W2092896760","https://openalex.org/W2181466525","https://openalex.org/W2004793478","https://openalex.org/W2358666156","https://openalex.org/W2391892769","https://openalex.org/W2366816474","https://openalex.org/W2537091977","https://openalex.org/W2025083357"],"abstract_inverted_index":{"Considering":[0],"with":[1,55,146],"the":[2,8,11,15,32,35,39,47,65,68,71,75,79,82,85,91,97,107,117,125,128,131,134,144,147,161],"parameter":[3],"and":[4,34,38,60,81,93,103,119,156,158],"task":[5,164],"requirements":[6],"of":[7,14,31,52,67,78,84,96,106,127,133],"fine":[9,98,162],"manipulation,":[10],"mechanical":[12,26],"system":[13],"modular":[16,40],"cable-driven":[17],"manipulator":[18,33,108],"(MCDM)":[19],"is":[20,28,109],"designed":[21,111],"in":[22,116],"this":[23],"paper.":[24],"The":[25,50,101,140],"part":[27],"mainly":[29],"composed":[30],"drive":[36],"box,":[37],"design":[41,83],"makes":[42],"it":[43],"easier":[44],"to":[45,73],"replace":[46],"damaged":[48],"parts.":[49],"use":[51],"a":[53,56,61,113,120],"gimbal":[54,118],"built-in":[57],"magnetic":[58,114],"encoder":[59,115],"tension":[62],"sensor":[63,123],"at":[64,124],"end":[66,126],"rope":[69],"enhances":[70],"ability":[72],"detect":[74],"current":[76],"state":[77],"robot":[80],"closed-loop/compliant":[86,135],"controller.":[87],"Firstly,":[88],"we":[89],"proposed":[90],"forward":[92],"inverse":[94],"kinematics":[95],"manipulation":[99,163],"robot.":[100],"closed-loop":[102,148],"compliant":[104],"controller":[105],"then":[110],"using":[112],"tensile":[121],"force":[122],"rope.":[129],"Finally,":[130],"experiments":[132,141],"control":[136,149],"was":[137],"carried":[138],"out.":[139],"showed":[142],"that":[143],"MCDM":[145],"has":[150],"high":[151],"accuracy,":[152],"strong":[153],"load":[154],"capacity":[155],"stability,":[157],"can":[159],"complete":[160],"excellently.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}