{"id":"https://openalex.org/W2792264719","doi":"https://doi.org/10.1109/tro.2018.2791593","title":"Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums","display_name":"Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums","publication_year":2018,"publication_date":"2018-02-14","ids":{"openalex":"https://openalex.org/W2792264719","doi":"https://doi.org/10.1109/tro.2018.2791593","mag":"2792264719"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2791593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2791593","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arts.units.it/bitstream/11368/2917634/8/2917634_Cable-Based%20Robotic%20Crane-PostPrint.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075963224","display_name":"Lorenzo Scalera","orcid":"https://orcid.org/0000-0002-0770-0275"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Scalera","raw_affiliation_strings":["Polythecnic Department of Engineering and Architecture, University of Udine, Udine, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0770-0275","affiliations":[{"raw_affiliation_string":"Polythecnic Department of Engineering and Architecture, University of Udine, Udine, Italy","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037895834","display_name":"Paolo Gallina","orcid":"https://orcid.org/0000-0003-0296-9475"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Gallina","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0296-9475","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039268440","display_name":"Stefano Seriani","orcid":"https://orcid.org/0000-0002-5563-9595"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stefano Seriani","raw_affiliation_strings":["DLR Institute for Robotics and Mechatronics, Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR Institute for Robotics and Mechatronics, Wessling, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029638799","display_name":"Alessandro Gasparetto","orcid":"https://orcid.org/0000-0001-9902-9783"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Gasparetto","raw_affiliation_strings":["Polythecnic Department of Engineering and Architecture, University of Udine, Udine, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polythecnic Department of Engineering and Architecture, University of Udine, Udine, Italy","institution_ids":["https://openalex.org/I129043915"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1213,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.94401532,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"34","issue":"2","first_page":"474","last_page":"485"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9958999752998352,"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":0.9937999844551086,"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/kinematics","display_name":"Kinematics","score":0.713312029838562},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.6580881476402283},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5936442613601685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5637868046760559},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.5498790144920349},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48665744066238403},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4460943043231964},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.43551063537597656},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39338845014572144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3232421875},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26165229082107544},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2130585014820099},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1745361089706421},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.11627507209777832},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10394531488418579},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0785973072052002}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.713312029838562},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.6580881476402283},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5936442613601685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5637868046760559},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.5498790144920349},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48665744066238403},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4460943043231964},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.43551063537597656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39338845014572144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3232421875},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26165229082107544},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2130585014820099},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1745361089706421},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.11627507209777832},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10394531488418579},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0785973072052002},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2018.2791593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2791593","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arts.units.it:11368/2917634","is_oa":true,"landing_page_url":"http://hdl.handle.net/11368/2917634","pdf_url":"https://arts.units.it/bitstream/11368/2917634/8/2917634_Cable-Based%20Robotic%20Crane-PostPrint.pdf","source":{"id":"https://openalex.org/S4306402362","display_name":"ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142444530","host_organization_name":"University of Trieste","host_organization_lineage":["https://openalex.org/I142444530"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:air.uniud.it:11390/1122748","is_oa":true,"landing_page_url":"http://hdl.handle.net/11390/1122748","pdf_url":null,"source":{"id":"https://openalex.org/S4306401163","display_name":"Institutional Research Information System (University of Udine)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I129043915","host_organization_name":"University of Udine","host_organization_lineage":["https://openalex.org/I129043915"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:elib.dlr.de:192581","is_oa":false,"landing_page_url":"https://elib.dlr.de/192581/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Zeitschriftenbeitrag"}],"best_oa_location":{"id":"pmh:oai:arts.units.it:11368/2917634","is_oa":true,"landing_page_url":"http://hdl.handle.net/11368/2917634","pdf_url":"https://arts.units.it/bitstream/11368/2917634/8/2917634_Cable-Based%20Robotic%20Crane-PostPrint.pdf","source":{"id":"https://openalex.org/S4306402362","display_name":"ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142444530","host_organization_name":"University of Trieste","host_organization_lineage":["https://openalex.org/I142444530"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2792264719.pdf","grobid_xml":"https://content.openalex.org/works/W2792264719.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W182955262","https://openalex.org/W924657904","https://openalex.org/W1963716360","https://openalex.org/W1965291735","https://openalex.org/W1967969109","https://openalex.org/W1981258784","https://openalex.org/W1983457957","https://openalex.org/W1985695480","https://openalex.org/W1988707210","https://openalex.org/W2000616516","https://openalex.org/W2003360230","https://openalex.org/W2016522069","https://openalex.org/W2018064449","https://openalex.org/W2019936558","https://openalex.org/W2021150911","https://openalex.org/W2040173324","https://openalex.org/W2044814751","https://openalex.org/W2060183272","https://openalex.org/W2060896856","https://openalex.org/W2079171857","https://openalex.org/W2085795786","https://openalex.org/W2087355026","https://openalex.org/W2093780913","https://openalex.org/W2095631872","https://openalex.org/W2095871877","https://openalex.org/W2098317065","https://openalex.org/W2098503658","https://openalex.org/W2100847090","https://openalex.org/W2105149502","https://openalex.org/W2107799164","https://openalex.org/W2114942015","https://openalex.org/W2132394003","https://openalex.org/W2135004628","https://openalex.org/W2137844762","https://openalex.org/W2142477340","https://openalex.org/W2153029400","https://openalex.org/W2158918709","https://openalex.org/W2162830699","https://openalex.org/W2169424109","https://openalex.org/W2304955063","https://openalex.org/W2547832121","https://openalex.org/W3164123803","https://openalex.org/W3170070557","https://openalex.org/W6682308305"],"related_works":["https://openalex.org/W2379128895","https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2978007058"],"abstract_inverted_index":{"In":[0],"this":[1,44,113,129],"paper,":[2],"we":[3,71],"present":[4,72],"a":[5,50,57,60,83,90,105,134],"new":[6],"family":[7],"of":[8,30,39,49,68,79,82,89,104,112,120,128,144],"overhead":[9,115],"traveling":[10],"cranes":[11,21],"based":[12,95],"on":[13,96],"variable":[14],"radius":[15,33],"drums":[16],"(VRDs),":[17],"called":[18],"cable-based":[19],"robotic":[20],"(CBRCs).":[22],"A":[23],"VRD":[24,84,98],"is":[25,41,131],"characterized":[26],"by":[27],"the":[28,31,47,73,77,80,87,97,126,137,140,149],"variation":[29],"spool":[32],"along":[34],"its":[35],"profile.":[36,85],"This":[37],"kind":[38],"device":[40],"used,":[42],"in":[43],"context,":[45],"for":[46],"development":[48],"cable-robot,":[51],"which":[52],"can":[53],"support":[54],"and":[55,76,100,117,139],"move":[56],"load":[58],"through":[59],"planar":[61,142],"working":[62,151],"area":[63],"with":[64],"just":[65],"two":[66],"degrees":[67],"freedom.":[69],"First":[70],"kinematic":[74],"analysis":[75,119],"synthesis":[78],"geometry":[81],"Then,":[86],"schema":[88],"bidimensional":[91],"horizontal":[92],"moving":[93],"mechanism,":[94],"theory,":[99],"an":[101,118],"experimental":[102],"prototype":[103],"three-dimensional":[106],"CBRC":[107],"are":[108,123],"presented.":[109],"The":[110],"features":[111],"wire-based":[114],"crane":[116],"cables":[121],"tensions":[122],"discussed.":[124],"Finally,":[125],"performance":[127],"mechanism":[130],"evaluated,":[132],"demonstrating":[133],"deviation":[135],"between":[136],"end-effector":[138],"nominal":[141],"surface":[143],"less":[145],"than":[146],"1%":[147],"throughout":[148],"whole":[150],"area.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}