{"id":"https://openalex.org/W4416323566","doi":"https://doi.org/10.1109/tase.2025.3634382","title":"A Structure Optimization Method Based on Stiffness Model for the Concentric Cable-Driven Manipulator With Three Segments","display_name":"A Structure Optimization Method Based on Stiffness Model for the Concentric Cable-Driven Manipulator With Three Segments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416323566","doi":"https://doi.org/10.1109/tase.2025.3634382"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3634382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3634382","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5110075499","display_name":"Boran Zhou","orcid":"https://orcid.org/0009-0006-1674-3345"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Boran Zhou","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University of Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070994787","display_name":"Hao Lv","orcid":"https://orcid.org/0009-0004-5566-8080"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Lv","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University of Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103095739","display_name":"Pengrui Wang","orcid":"https://orcid.org/0009-0007-9325-9693"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengrui Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University of Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100736201","display_name":"Yuxia Li","orcid":"https://orcid.org/0000-0003-1916-2707"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxia Li","raw_affiliation_strings":["Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100695049","display_name":"Zonggao Mu","orcid":"https://orcid.org/0000-0001-9289-5902"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zonggao Mu","raw_affiliation_strings":["School of Mechanical Engineering and the Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, China","School of Mechanical Engineering, Shandong University of Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and the Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5110075499"],"corresponding_institution_ids":["https://openalex.org/I119203015"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33023596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"24225","last_page":"24236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.2535000145435333,"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":0.2535000145435333,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.22169999778270721,"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/T11870","display_name":"Structural Analysis and Optimization","score":0.1573999971151352,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/concentric","display_name":"Concentric","score":0.9523000121116638},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8277999758720398},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6930999755859375},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5328999757766724},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48510000109672546},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.42669999599456787}],"concepts":[{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.9523000121116638},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8277999758720398},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6930999755859375},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5328999757766724},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48510000109672546},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4498000144958496},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.42669999599456787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4156999886035919},{"id":"https://openalex.org/C6213913","wikidata":"https://www.wikidata.org/wiki/Q2280635","display_name":"Direct stiffness method","level":4,"score":0.4124999940395355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.412200003862381},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.3743000030517578},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.25940001010894775}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3634382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3634382","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1716633928","display_name":null,"funder_award_id":"61903100","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6404831847","display_name":null,"funder_award_id":"62473238","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8447256284","display_name":null,"funder_award_id":"tsqn202312185","funder_id":"https://openalex.org/F4320326189","funder_display_name":"Taishan Scholar Project of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326189","display_name":"Taishan Scholar Project of Shandong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1489545255","https://openalex.org/W1768957880","https://openalex.org/W2086658405","https://openalex.org/W2096645690","https://openalex.org/W2147914503","https://openalex.org/W2159298254","https://openalex.org/W2795456897","https://openalex.org/W2887202718","https://openalex.org/W2893591777","https://openalex.org/W2911256441","https://openalex.org/W2971848593","https://openalex.org/W3000358370","https://openalex.org/W3028314871","https://openalex.org/W3137229025","https://openalex.org/W4214554036","https://openalex.org/W4285208899","https://openalex.org/W4292429765","https://openalex.org/W4319302986","https://openalex.org/W4383960459","https://openalex.org/W4389225425","https://openalex.org/W4393344342","https://openalex.org/W4393410182","https://openalex.org/W4399563116","https://openalex.org/W4406354043"],"related_works":[],"abstract_inverted_index":{"The":[0,73,107,132],"concentric":[1,44,62,74,91,111],"cable-driven":[2,45,63,75,92,112],"manipulator":[3,46,64,76,93,113],"has":[4],"characteristics":[5,54],"of":[6,55,82,89,104,109,123],"flexibility":[7,78],"and":[8,58,79,125,130,134],"slenderness":[9],"when":[10],"working":[11],"in":[12,70,143],"confined":[13],"space.":[14],"However,":[15],"how":[16],"to":[17,52],"optimize":[18],"a":[19,31],"structure":[20,32],"with":[21,47,65,94],"appropriate":[22],"stiffness":[23,37,87,108,122],"becomes":[24],"an":[25],"important":[26],"issue.":[27],"In":[28],"this":[29,71],"paper,":[30],"optimization":[33,142],"method":[34],"based":[35],"on":[36],"model":[38],"is":[39,68,97,114],"proposed":[40],"for":[41,140],"the":[42,53,56,61,86,90,102,110,121],"designed":[43,69],"three":[48,66,95],"segments.":[49],"Firstly,":[50],"according":[51],"cable":[57,83,118],"center":[59],"support,":[60],"segments":[67,96],"paper.":[72],"addresses":[77],"active":[80],"regulation":[81],"tension.":[84],"Secondly,":[85],"modeling":[88],"carried":[98],"out":[99],"by":[100,116],"introducing":[101],"concept":[103],"unit":[105],"module.":[106],"adjusted":[115],"optimizing":[117],"diameters.":[119],"Finally,":[120],"C-shaped":[124],"S-shaped":[126],"configurations":[127],"are":[128],"analyzed":[129],"compared.":[131],"analysis":[133],"experimental":[135],"results":[136],"can":[137],"provide":[138],"reference":[139],"structural":[141],"practical":[144],"applications.":[145]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-18T00:00:00"}