{"id":"https://openalex.org/W4409249453","doi":"https://doi.org/10.1109/tsmc.2025.3554591","title":"Decoupling Design and Fast Kinematics Resolving Method for Cable-Driven Segmented Manipulator","display_name":"Decoupling Design and Fast Kinematics Resolving Method for Cable-Driven Segmented Manipulator","publication_year":2025,"publication_date":"2025-04-08","ids":{"openalex":"https://openalex.org/W4409249453","doi":"https://doi.org/10.1109/tsmc.2025.3554591"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2025.3554591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3554591","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5082586634","display_name":"Taiwei Yang","orcid":"https://orcid.org/0000-0002-5756-0290"},"institutions":[{"id":"https://openalex.org/I4510145","display_name":"Jiangxi University of Science and Technology","ror":"https://ror.org/03q0t9252","country_code":"CN","type":"education","lineage":["https://openalex.org/I4510145"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taiwei Yang","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology, Ganzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5756-0290","affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology, Ganzhou, China","institution_ids":["https://openalex.org/I4510145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100708069","display_name":"Junxiang Li","orcid":"https://orcid.org/0009-0006-9336-3311"},"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"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junxiang Li","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Robotics and Advanced Manufacture, and the Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0006-9336-3311","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210142539"]},{"raw_affiliation_string":"the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Robotics and Advanced Manufacture, and the Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","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"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Xu","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Robotics and Advanced Manufacture, and the Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8218-6061","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210142539"]},{"raw_affiliation_string":"the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Robotics and Advanced Manufacture, and the Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019936956","display_name":"Lei Yan","orcid":"https://orcid.org/0000-0003-1493-7147"},"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"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Yan","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Robotics and Advanced Manufacture, and the Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1493-7147","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210142539"]},{"raw_affiliation_string":"the Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Robotics and Advanced Manufacture, and the Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644629","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-7163-345X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7163-345X","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.3295,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.96499523,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"55","issue":"7","first_page":"4670","last_page":"4683"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9966999888420105,"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":0.9966999888420105,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9850999712944031,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9839000105857849,"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/decoupling","display_name":"Decoupling (probability)","score":0.8748520612716675},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7927890419960022},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.535380482673645},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5231610536575317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5066986680030823},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3782157301902771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3443315029144287},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29738524556159973},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18370312452316284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10299769043922424},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05885782837867737},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.05771893262863159}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.8748520612716675},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7927890419960022},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.535380482673645},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5231610536575317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5066986680030823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3782157301902771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3443315029144287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29738524556159973},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18370312452316284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10299769043922424},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05885782837867737},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05771893262863159}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3554591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3554591","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G3211235147","display_name":null,"funder_award_id":"62203140","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4753184890","display_name":null,"funder_award_id":"2025A1515010180","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1024591929","https://openalex.org/W1891615552","https://openalex.org/W1999165127","https://openalex.org/W2030727116","https://openalex.org/W2063797945","https://openalex.org/W2064267416","https://openalex.org/W2101667962","https://openalex.org/W2126182407","https://openalex.org/W2147492425","https://openalex.org/W2154963387","https://openalex.org/W2184993170","https://openalex.org/W2588333893","https://openalex.org/W2747172592","https://openalex.org/W2765594015","https://openalex.org/W2782862780","https://openalex.org/W2793556869","https://openalex.org/W2806185962","https://openalex.org/W2892038503","https://openalex.org/W2910348050","https://openalex.org/W2912795814","https://openalex.org/W3006631052","https://openalex.org/W3011171486","https://openalex.org/W3046983221","https://openalex.org/W3072147888","https://openalex.org/W3108847984","https://openalex.org/W3138919713","https://openalex.org/W3153052730","https://openalex.org/W3177029077","https://openalex.org/W3180322432","https://openalex.org/W3185419978","https://openalex.org/W3203723450","https://openalex.org/W4200363800","https://openalex.org/W4220797140","https://openalex.org/W4324335437","https://openalex.org/W4393139803","https://openalex.org/W4399527478"],"related_works":["https://openalex.org/W1996998603","https://openalex.org/W2005706483","https://openalex.org/W186113911","https://openalex.org/W2362551533","https://openalex.org/W2386777533","https://openalex.org/W2373581562","https://openalex.org/W2354638634","https://openalex.org/W1973860365","https://openalex.org/W2358412393","https://openalex.org/W4319156915"],"abstract_inverted_index":{"A":[0],"cable-driven":[1],"segmented":[2],"manipulator":[3,232],"(CDSM)":[4],"has":[5,14,237],"considerable":[6],"potential":[7],"in":[8,114,138],"narrow":[9],"space":[10],"operations":[11],"because":[12],"it":[13],"a":[15,72,171,223],"slender":[16],"and":[17,64,87,125,180,190,218,244,253],"light":[18],"body":[19],"with":[20,45,123,204,234],"flexible":[21],"mobility.":[22],"However,":[23],"the":[24,39,48,54,60,81,85,90,95,102,105,109,117,132,135,139,142,145,150,156,159,162,168,178,183,205,209,215,230,249],"existing":[25],"CDSM":[26,198,224],"segment":[27,41,50,152],"driving":[28,36,75,96,136,146,184,252],"mechanisms":[29,217],"are":[30,220],"coupled":[31],"to":[32,79,121,166,248],"each":[33],"other.":[34],"The":[35,92,226],"distance":[37,57],"of":[38,47,89,94,104,116,128,134,141,149,158,161,182],"rear":[40],"cable":[42,97,118,137,147],"is":[43,77,98,153,175,195,212],"superimposed":[44],"that":[46,229],"front":[49,163],"cable,":[51],"which":[52],"renders":[53],"cables\u2019":[55],"drive":[56,169],"inconsistent.":[58],"Moreover,":[59,165],"system":[61],"kinematics,":[62],"dynamics,":[63],"control":[65,88],"become":[66],"extremely":[67],"complex.":[68],"In":[69],"this":[70],"article,":[71],"novel":[73],"decoupling":[74],"mechanism":[76,174],"proposed":[78,196,216,231,250],"solve":[80],"coupling":[82],"problem,":[83],"simplifying":[84],"modeling":[86],"CDSM.":[91],"routing":[93],"designed":[99],"based":[100,199],"on":[101,200],"characteristics":[103],"symmetrical":[106],"offset":[107],"(i.e.,":[108],"same":[110],"magnitude":[111],"but":[112],"opposite":[113],"direction)":[115],"length":[119,148],"applicable":[120],"joints":[122],"one":[124],"two":[126],"degrees":[127],"freedom.":[129],"By":[130],"modifying":[131],"direction":[133],"middle":[140],"proximal":[143],"segment,":[144],"distal":[151],"unaffected":[154],"by":[155],"change":[157],"angle":[160],"segment.":[164],"increase":[167],"stroke,":[170],"multiturn":[172],"winding":[173],"designed,":[176],"reducing":[177],"volume":[179],"mass":[181],"box.":[185],"Accordingly,":[186],"an":[187],"improved":[188],"forward":[189],"backward":[191],"reaching":[192],"inverse":[193],"kinematics":[194,255],"for":[197],"virtual":[201],"joints.":[202],"Compared":[203],"Jacobian":[206],"pseudo-inverse":[207],"method,":[208],"computational":[210],"efficiency":[211],"improved.":[213],"Finally,":[214],"methods":[219],"verified":[221],"via":[222],"prototype.":[225],"results":[227],"indicate":[228],"compared":[233],"typical":[235],"manipulators":[236],"larger":[238],"movement":[239],"range,":[240],"higher":[241],"end":[242],"velocity,":[243],"guaranteed":[245],"accuracy":[246],"due":[247],"decoupled":[251],"fast":[254],"resolution.":[256]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}