{"id":"https://openalex.org/W4413978005","doi":"https://doi.org/10.1109/tie.2025.3598160","title":"TDPR: Tensegrity-Based Cable-Driven Parallel Robot for Large End-Effector Manipulation","display_name":"TDPR: Tensegrity-Based Cable-Driven Parallel Robot for Large End-Effector Manipulation","publication_year":2025,"publication_date":"2025-09-04","ids":{"openalex":"https://openalex.org/W4413978005","doi":"https://doi.org/10.1109/tie.2025.3598160"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3598160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3598160","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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":null,"display_name":"Min-Cheol Kim","orcid":"https://orcid.org/0009-0000-8716-3571"},"institutions":[{"id":"https://openalex.org/I111277659","display_name":"Chonnam National University","ror":"https://ror.org/05kzjxq56","country_code":"KR","type":"education","lineage":["https://openalex.org/I111277659"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-Cheol Kim","raw_affiliation_strings":["Department of the Mechanical Engineering, Chonnam National University, Gwangju, Korea"],"raw_orcid":"https://orcid.org/0009-0000-8716-3571","affiliations":[{"raw_affiliation_string":"Department of the Mechanical Engineering, Chonnam National University, Gwangju, Korea","institution_ids":["https://openalex.org/I111277659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102385048","display_name":"Myungjin Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I111277659","display_name":"Chonnam National University","ror":"https://ror.org/05kzjxq56","country_code":"KR","type":"education","lineage":["https://openalex.org/I111277659"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myungjin Jung","raw_affiliation_strings":["Department of the Mechanical Engineering, Chonnam National University, Gwangju, Korea"],"raw_orcid":"https://orcid.org/0009-0008-6378-4646","affiliations":[{"raw_affiliation_string":"Department of the Mechanical Engineering, Chonnam National University, Gwangju, Korea","institution_ids":["https://openalex.org/I111277659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076860383","display_name":"S. S. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I111277659","display_name":"Chonnam National University","ror":"https://ror.org/05kzjxq56","country_code":"KR","type":"education","lineage":["https://openalex.org/I111277659"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sejeong Kim","raw_affiliation_strings":["Department of the Mechanical Engineering, Chonnam National University, Gwangju, Korea"],"raw_orcid":"https://orcid.org/0009-0002-6453-475X","affiliations":[{"raw_affiliation_string":"Department of the Mechanical Engineering, Chonnam National University, Gwangju, Korea","institution_ids":["https://openalex.org/I111277659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085338347","display_name":"Chang\u2010Sei Kim","orcid":"https://orcid.org/0000-0003-4532-2006"},"institutions":[{"id":"https://openalex.org/I111277659","display_name":"Chonnam National University","ror":"https://ror.org/05kzjxq56","country_code":"KR","type":"education","lineage":["https://openalex.org/I111277659"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chang-Sei Kim","raw_affiliation_strings":["Department of the Mechanical Engineering, Chonnam National University, Gwangju, Korea"],"raw_orcid":"https://orcid.org/0000-0003-4532-2006","affiliations":[{"raw_affiliation_string":"Department of the Mechanical Engineering, Chonnam National University, Gwangju, Korea","institution_ids":["https://openalex.org/I111277659"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111277659"],"apc_list":null,"apc_paid":null,"fwci":0.4885,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.63661513,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"73","issue":"1","first_page":"984","last_page":"995"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9829999804496765,"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":0.9796000123023987,"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/tensegrity","display_name":"Tensegrity","score":0.9295845031738281},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.7963371872901917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6390488743782043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4954477548599243},{"id":"https://openalex.org/keywords/effector","display_name":"Effector","score":0.42990168929100037},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3871093690395355},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3781919777393341},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.33335697650909424},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23098427057266235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16865265369415283},{"id":"https://openalex.org/keywords/cell-biology","display_name":"Cell biology","score":0.0982414186000824}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9295845031738281},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7963371872901917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6390488743782043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4954477548599243},{"id":"https://openalex.org/C51785407","wikidata":"https://www.wikidata.org/wiki/Q2627568","display_name":"Effector","level":2,"score":0.42990168929100037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3871093690395355},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3781919777393341},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.33335697650909424},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23098427057266235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16865265369415283},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.0982414186000824},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3598160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3598160","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6758398127","display_name":null,"funder_award_id":"RS-2024-00397026","funder_id":"https://openalex.org/F4320322033","funder_display_name":"Ministry of Agriculture, Food and Rural Affairs"}],"funders":[{"id":"https://openalex.org/F4320322033","display_name":"Ministry of Agriculture, Food and Rural Affairs","ror":"https://ror.org/009g8rq41"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W195947176","https://openalex.org/W2054203886","https://openalex.org/W2062205503","https://openalex.org/W2095484521","https://openalex.org/W2165530525","https://openalex.org/W2560456707","https://openalex.org/W2564092660","https://openalex.org/W2774734943","https://openalex.org/W2782659067","https://openalex.org/W2888891127","https://openalex.org/W2963939957","https://openalex.org/W3001805391","https://openalex.org/W3081214735","https://openalex.org/W3142358165","https://openalex.org/W3155270717","https://openalex.org/W3209955306","https://openalex.org/W3213974257","https://openalex.org/W4211248062","https://openalex.org/W4213449183","https://openalex.org/W4214821834","https://openalex.org/W4226128209","https://openalex.org/W4226160308","https://openalex.org/W4235118199","https://openalex.org/W4285190728","https://openalex.org/W4285287697","https://openalex.org/W4285494471","https://openalex.org/W4313026672","https://openalex.org/W4365130635","https://openalex.org/W4367663446","https://openalex.org/W4385226807","https://openalex.org/W4386232458","https://openalex.org/W4401909071","https://openalex.org/W4404117628","https://openalex.org/W4410114662"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W2040728928","https://openalex.org/W1974778898","https://openalex.org/W3015911334","https://openalex.org/W4285324348"],"abstract_inverted_index":{"Cable-driven":[0],"mechanisms":[1],"have":[2],"been":[3],"widely":[4],"utilized":[5],"for":[6,68,181,191],"actuating":[7],"robotic":[8],"systems":[9],"in":[10],"various":[11],"configurations":[12],"such":[13],"as":[14,141],"parallel,":[15],"tensegrity,":[16],"and":[17,70,159,188],"tendon-driven":[18],"robots.":[19],"Conventional":[20],"cable-driven":[21],"parallel":[22,45],"robots":[23],"(CDPRs)":[24],"apply":[25],"external":[26,119],"tension":[27],"from":[28],"a":[29,41,142,177],"rigid":[30],"frame":[31,111,131],"to":[32,55,66,117],"manipulate":[33],"an":[34,57,89],"internal":[35,52],"end-effector":[36],"(EE).":[37],"In":[38],"this":[39],"article,":[40],"novel":[42],"tensegrity-based":[43],"driven":[44],"robot":[46],"(TDPR)":[47],"is":[48,64,106,115,139],"proposed,":[49],"which":[50,93],"utilizes":[51],"cable":[53],"tensions":[54],"actuate":[56],"externally":[58,194],"located":[59,195],"EE.":[60],"A":[61],"dynamic":[62,189],"model":[63],"formulated":[65],"account":[67],"torque":[69],"rotational":[71],"moments":[72],"effects":[73],"included":[74],"by":[75,108],"center-of-mass":[76],"variations":[77],"during":[78],"6-DoF":[79],"motion.":[80],"Under":[81,145],"identical":[82],"geometric":[83],"parameters,":[84],"the":[85,96,99,109,118,122,130,137,151,167,170],"proposed":[86,171],"TDPR":[87,138,175],"enables":[88],"expanded":[90],"reachable":[91],"workspace,":[92],"scales":[94],"with":[95],"size":[97],"of":[98,121,169],"EE,":[100,123],"unlike":[101],"conventional":[102],"CDPRs":[103],"whose":[104],"workspace":[105,186],"constrained":[107,198],"fixed":[110],"dimensions.":[112],"This":[113],"expansion":[114],"attributed":[116],"placement":[120],"enabling":[124],"broader":[125],"motion":[126],"coverage":[127],"without":[128],"increasing":[129],"size.":[132],"To":[133],"demonstrate":[134],"practical":[135],"applicability,":[136],"implemented":[140],"stabilizing":[143],"platform.":[144],"sinusoidal":[146],"disturbance":[147],"at":[148],"0.05":[149],"Hz,":[150],"system":[152],"maintains":[153],"positional":[154],"accuracy":[155],"within":[156],"2":[157],"mm":[158],"orientation":[160],"error":[161],"below":[162],"0.2<bold":[163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00b0</b>,":[165],"validating":[166],"effectiveness":[168],"control":[172],"strategy.":[173],"The":[174],"offers":[176],"new":[178],"actuation":[179],"paradigm":[180],"CDPR":[182],"systems,":[183],"providing":[184],"enhanced":[185],"efficiency":[187],"stability":[190],"applications":[192],"involving":[193],"EEs":[196],"under":[197],"conditions.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
