{"id":"https://openalex.org/W2795231997","doi":"https://doi.org/10.3390/robotics7020015","title":"Cable Robot Performance Evaluation by Wrench Exertion Capability","display_name":"Cable Robot Performance Evaluation by Wrench Exertion Capability","publication_year":2018,"publication_date":"2018-03-27","ids":{"openalex":"https://openalex.org/W2795231997","doi":"https://doi.org/10.3390/robotics7020015","mag":"2795231997"},"language":"en","primary_location":{"id":"doi:10.3390/robotics7020015","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics7020015","pdf_url":"https://www.mdpi.com/2218-6581/7/2/15/pdf?version=1525345488","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/7/2/15/pdf?version=1525345488","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042123293","display_name":"Giovanni Boschetti","orcid":"https://orcid.org/0000-0003-2452-221X"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giovanni Boschetti","raw_affiliation_strings":["Department of Management and Engineering, Universit\u00e0 degli Studi di Padova, 36100 Vicenza, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2452-221X","affiliations":[{"raw_affiliation_string":"Department of Management and Engineering, Universit\u00e0 degli Studi di Padova, 36100 Vicenza, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002498359","display_name":"Alberto Trevisani","orcid":"https://orcid.org/0000-0002-2868-3128"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Trevisani","raw_affiliation_strings":["Department of Management and Engineering, Universit\u00e0 degli Studi di Padova, 36100 Vicenza, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Management and Engineering, Universit\u00e0 degli Studi di Padova, 36100 Vicenza, Italy","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5042123293"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":2.4965,"has_fulltext":true,"cited_by_count":29,"citation_normalized_percentile":{"value":0.89041404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"15","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.996399998664856,"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/T10868","display_name":"Soft Robotics and Applications","score":0.995199978351593,"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/wrench","display_name":"Wrench","score":0.9270389676094055},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8559993505477905},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7434209585189819},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6333349347114563},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.611892580986023},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5650737285614014},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5069361329078674},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43159401416778564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4222303330898285},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42189231514930725},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4144095182418823},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3740633726119995},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29082155227661133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16209068894386292},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09471553564071655},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08640387654304504}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.9270389676094055},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8559993505477905},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7434209585189819},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6333349347114563},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.611892580986023},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5650737285614014},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5069361329078674},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43159401416778564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4222303330898285},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42189231514930725},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4144095182418823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3740633726119995},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29082155227661133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16209068894386292},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09471553564071655},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08640387654304504},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics7020015","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics7020015","pdf_url":"https://www.mdpi.com/2218-6581/7/2/15/pdf?version=1525345488","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:66a07ef69975435daafef6020a9d9ae0","is_oa":true,"landing_page_url":"https://doaj.org/article/66a07ef69975435daafef6020a9d9ae0","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 7, Iss 2, p 15 (2018)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/7/2/15/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics7020015","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"},{"id":"pmh:oai:www.research.unipd.it:11577/3267636","is_oa":true,"landing_page_url":"http://hdl.handle.net/11577/3267636","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"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"}],"best_oa_location":{"id":"doi:10.3390/robotics7020015","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics7020015","pdf_url":"https://www.mdpi.com/2218-6581/7/2/15/pdf?version=1525345488","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2795231997.pdf","grobid_xml":"https://content.openalex.org/works/W2795231997.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1989227700","https://openalex.org/W1993297197","https://openalex.org/W2003360230","https://openalex.org/W2014257117","https://openalex.org/W2014694653","https://openalex.org/W2050089783","https://openalex.org/W2050858577","https://openalex.org/W2071647331","https://openalex.org/W2073212435","https://openalex.org/W2097921206","https://openalex.org/W2160487166","https://openalex.org/W2169424109","https://openalex.org/W2212996755","https://openalex.org/W2575887944","https://openalex.org/W2587790860","https://openalex.org/W2605601185","https://openalex.org/W2737746707","https://openalex.org/W2739192138","https://openalex.org/W2758932078","https://openalex.org/W2785469293","https://openalex.org/W3180482864","https://openalex.org/W4245348141","https://openalex.org/W7062577184","https://openalex.org/W7070980537"],"related_works":["https://openalex.org/W2120734204","https://openalex.org/W1965047598","https://openalex.org/W2186618162","https://openalex.org/W2975514431","https://openalex.org/W2183472499","https://openalex.org/W2158050076","https://openalex.org/W2145622176","https://openalex.org/W4226242789","https://openalex.org/W3090651099","https://openalex.org/W847404441"],"abstract_inverted_index":{"Although":[0],"cable":[1,43,57,116,151,161],"driven":[2],"robots":[3,27,162],"are":[4,163,177],"a":[5,47,86,135],"type":[6],"of":[7,12,36,40,55,114,168],"parallel":[8,26],"manipulators,":[9],"the":[10,20,37,53,56,69,79,82,92,97,100,102,112,140,169],"evaluation":[11,62],"their":[13],"performances":[14],"cannot":[15],"be":[16,65,76,108],"carried":[17],"out":[18],"using":[19],"performance":[21,61,113,175],"indices":[22,176],"already":[23],"developed":[24],"for":[25,139,149],"with":[28,173],"rigid":[29],"links.":[30],"This":[31,95],"is":[32,96,120],"an":[33,123,145],"obvious":[34],"consequence":[35],"peculiar":[38],"features":[39],"flexible":[41],"cables\u2014a":[42],"can":[44,63,75,107],"only":[45],"exert":[46],"tensile":[48],"and":[49,119,125,159],"limited":[50],"force":[51,71],"in":[52],"direction":[54,90],"itself.":[58],"A":[59],"comprehensive":[60],"certainly":[64],"attained":[66],"by":[67,78,122],"computing":[68],"maximum":[70],"(or":[72,88],"torque)":[73],"that":[74],"exerted":[77],"cables":[80],"on":[81,129,157],"moving":[83],"platform":[84],"along":[85],"specific":[87],"any)":[89],"within":[91],"whole":[93],"workspace.":[94],"idea":[98],"behind":[99],"index\u2014called":[101],"Wrench":[103],"Exertion":[104],"Capability":[105],"(WEC)\u2014which":[106],"employed":[109],"to":[110,165],"evaluate":[111],"any":[115,150],"robot":[117,152],"topology":[118],"characterized":[121],"efficient":[124],"simple":[126],"formulation":[127,147],"based":[128],"linear":[130],"programming.":[131],"By":[132],"significantly":[133],"improving":[134],"preliminary":[136],"computation":[137],"method":[138],"WEC,":[141],"this":[142],"paper":[143],"proposes":[144],"ultimate":[146],"suitable":[148],"topology.":[153],"Several":[154],"numerical":[155],"investigations":[156],"planar":[158],"spatial":[160],"presented":[164],"give":[166],"evidence":[167],"WEC":[170],"usefulness,":[171],"comparisons":[172],"popular":[174],"also":[178],"provided.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}