Kinematics, statics modeling and workspace analysis of a cable-driven hybrid robot

Compared with single rigid serial robots (RSRs) and cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) have the advantages of both CDPRs and RSRs, which can improve the deficiencies of a single robot in one aspect. Due to a larger force-enclosed workspace (FEW), CDHRs can accom...

Full description

Saved in:

Bibliographic Details
Published in:	Multibody system dynamics Vol. 61; no. 2; pp. 163 - 193
Main Authors:	Peng, Jianqing, Guo, Yonghua, Meng, Deshan, Han, Yu
Format:	Journal Article
Language:	English
Published:	Dordrecht Springer Netherlands 01.06.2024 Springer Nature B.V
Subjects:	Automotive Engineering Composite structures Configurations Control Coupling Dynamical Systems Electrical Engineering Engineering Flexibility Industrial applications Kinematic equations Kinematics Mechanical Engineering Modelling Optimization Quadratic programming Redundancy Robot dynamics Robots Task complexity Vibration Workspace Series/parallel coupling Coupling kinematics Statics Cable-driven hybrid robots Workspace
ISSN:	1384-5640, 1573-272X
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Abstract	Compared with single rigid serial robots (RSRs) and cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) have the advantages of both CDPRs and RSRs, which can improve the deficiencies of a single robot in one aspect. Due to a larger force-enclosed workspace (FEW), CDHRs can accomplish more complex tasks, which have a wide range of applications in industrial picking, disaster rescue, construction renovation, etc. However, as its structural complexity increases, the coupling modeling and workspace analysis will become more difficult. Based on this, this paper provides a coupled kinematics, statics modeling, and workspace analysis method of CDHRs. Firstly, the forward/inverse kinematic equations of the series/parallel coupling are derived, and the corresponding solutions are given according to this composite structure with high redundancy. Secondly, the static equations of the CDHR are further derived based on the coupled kinematics model and solved by the quadratic programming method (QPM). Further, a FEW for the CDHR is established based on collision constraints, containing the workspaces of both the RSR and the CDPR. To evaluate the quality of the workspace for the CDHR, a method for solving the configuration flexibility is proposed. Finally, the workspace and the configuration flexibility of the CDHR are analyzed by the built simulation system. And then, the tracking methods of several typical trajectories are verified by the model.
AbstractList	Compared with single rigid serial robots (RSRs) and cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) have the advantages of both CDPRs and RSRs, which can improve the deficiencies of a single robot in one aspect. Due to a larger force-enclosed workspace (FEW), CDHRs can accomplish more complex tasks, which have a wide range of applications in industrial picking, disaster rescue, construction renovation, etc. However, as its structural complexity increases, the coupling modeling and workspace analysis will become more difficult. Based on this, this paper provides a coupled kinematics, statics modeling, and workspace analysis method of CDHRs. Firstly, the forward/inverse kinematic equations of the series/parallel coupling are derived, and the corresponding solutions are given according to this composite structure with high redundancy. Secondly, the static equations of the CDHR are further derived based on the coupled kinematics model and solved by the quadratic programming method (QPM). Further, a FEW for the CDHR is established based on collision constraints, containing the workspaces of both the RSR and the CDPR. To evaluate the quality of the workspace for the CDHR, a method for solving the configuration flexibility is proposed. Finally, the workspace and the configuration flexibility of the CDHR are analyzed by the built simulation system. And then, the tracking methods of several typical trajectories are verified by the model.
Author	Meng, Deshan Peng, Jianqing Han, Yu Guo, Yonghua
Author_xml	– sequence: 1 givenname: Jianqing surname: Peng fullname: Peng, Jianqing organization: School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Guangdong Provincial Key Laboratory of Fire Science and Technology – sequence: 2 givenname: Yonghua surname: Guo fullname: Guo, Yonghua organization: School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University – sequence: 3 givenname: Deshan surname: Meng fullname: Meng, Deshan email: mengdsh3@mail.sysu.edu.cn organization: School of Aeronautics and Astronautics, Sun Yat-sen University – sequence: 4 givenname: Yu surname: Han fullname: Han, Yu organization: School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Guangdong Provincial Key Laboratory of Fire Science and Technology
BookMark	eNp9kEtLAzEUhYMo2Fb_gKuAW6N5zmSWUnxhQRAFdyHJZGrqNKnJVOm_d9oRBBdd3XPhfJdzzxgchhgcAGcEXxKMy6tMCOYcYcoQrirKUXEARkSUDNGSvh32mkmORMHxMRjnvMCYEsGrEXh-9MEtdedtvoC52wm4jLVrfZhDHWr4HdNHXmnr-k23m-wzjA3U0GrTOlQn_-UCfN-Y5GuYoondCThqdJvd6e-cgNfbm5fpPZo93T1Mr2fIMlJ1yDR1I7AgDcfMMWmt4LYpuSsLY4R0hliBnawkwZrwmmPCqDGNq2RNCS0rwybgfLi7SvFz7XKnFnGd-oxZMVxUQpRC0t4lB5dNMefkGmX99s0YuqR9qwhW2wbV0KDqG1S7BlXRo_Qfukp-qdNmP8QGKPfmMHfpL9Ue6gdbbIWg
CitedBy_id	crossref_primary_10_1007_s11044_024_09996_y crossref_primary_10_3390_robotics13090130 crossref_primary_10_1109_LRA_2025_3559829 crossref_primary_10_1177_14644193251335430
Cites_doi	10.1007/978-3-319-60867-9_22 10.1016/j.robot.2019.04.013 10.1007/s11044-016-9543-6 10.1016/j.jsv.2017.02.003 10.1007/s11071-020-05764-7 10.1007/s11433-006-0129-9 10.1007/s11044-022-09840-1 10.1109/IROS.2006.281747 10.1007/s10514-016-9609-6 10.1007/s11044-020-09761-x 10.1017/S0263574799000995 10.1007/s11012-010-9369-x 10.1109/TRO.2021.3139585 10.1016/j.mechmachtheory.2014.01.016 10.1016/j.engappai.2017.06.009 10.1007/s11044-008-9144-0 10.1016/j.mechmachtheory.2014.10.010 10.1109/TMECH.2020.2973428 10.1109/IROS.2015.7353818 10.1109/TRO.2018.2871395 10.1109/TMECH.2022.3181603 10.1016/j.mechmachtheory.2007.06.008 10.1016/j.mechmachtheory.2005.04.003 10.1109/IROS.2014.6942781 10.1109/IROS.2015.7353592 10.1016/j.rcim.2021.102165
ContentType	Journal Article
Copyright	The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
Copyright_xml	– notice: The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
DBID	AAYXX CITATION JQ2
DOI	10.1007/s11044-023-09924-6
DatabaseName	CrossRef ProQuest Computer Science Collection
DatabaseTitle	CrossRef ProQuest Computer Science Collection
DatabaseTitleList	ProQuest Computer Science Collection
DeliveryMethod	fulltext_linktorsrc
Discipline	Applied Sciences Engineering
EISSN	1573-272X
EndPage	193
ExternalDocumentID	10_1007_s11044_023_09924_6
GrantInformation_xml	– fundername: National Key R&D Program of China grantid: 2022YFB4703103 – fundername: Guangdong Basic and Applied Basic Research Foundation grantid: 2019A1515110680 – fundername: National Natural Science Foundation of China grantid: 62103454 – fundername: Shenzhen Municipal Basic Research Project for Natural Science Foundation grantid: JCYJ20190806143408992 – fundername: Shenzhen Science and Technology Program grantid: JCYJ20220530150006014
GroupedDBID	-5B -5G -BR -EM -Y2 -~C .86 .VR 06D 0R~ 0VY 123 1N0 1SB 203 29M 29~ 2J2 2JN 2JY 2KG 2KM 2LR 2P1 2VQ 2~H 30V 4.4 406 408 409 40D 40E 5VS 67Z 6NX 8TC 8UJ 95- 95. 95~ 96X AAAVM AABHQ AACDK AAHNG AAIAL AAJBT AAJKR AANZL AARHV AARTL AASML AATNV AATVU AAUYE AAWCG AAYIU AAYQN AAYTO AAYZH ABAKF ABBBX ABBXA ABDZT ABECU ABFTV ABHLI ABHQN ABJNI ABJOX ABKCH ABKTR ABMNI ABMQK ABNWP ABQBU ABQSL ABSXP ABTEG ABTHY ABTKH ABTMW ABULA ABWNU ABXPI ACAOD ACBXY ACDTI ACGFS ACHSB ACHXU ACIWK ACKNC ACMDZ ACMLO ACOKC ACOMO ACPIV ACSNA ACZOJ ADHHG ADHIR ADINQ ADKNI ADKPE ADRFC ADTPH ADURQ ADYFF ADZKW AEBTG AEFQL AEGAL AEGNC AEJHL AEJRE AEKMD AEMSY AENEX AEOHA AEPYU AESKC AETLH AEVLU AEXYK AFBBN AFGCZ AFLOW AFQWF AFWTZ AFZKB AGAYW AGDGC AGGDS AGJBK AGMZJ AGQEE AGQMX AGRTI AGWIL AGWZB AGYKE AHAVH AHBYD AHKAY AHSBF AHYZX AIAKS AIGIU AIIXL AILAN AITGF AJBLW AJRNO AJZVZ ALMA_UNASSIGNED_HOLDINGS ALWAN AMKLP AMXSW AMYLF AMYQR AOCGG ARMRJ ASPBG AVWKF AXYYD AYJHY AZFZN B-. BA0 BDATZ BGNMA BSONS CAG COF CS3 CSCUP DDRTE DL5 DNIVK DPUIP DU5 EBLON EBS EIOEI EJD ESBYG F5P FEDTE FERAY FFXSO FIGPU FINBP FNLPD FRRFC FSGXE FWDCC GGCAI GGRSB GJIRD GNWQR GQ6 GQ7 GQ8 GXS H13 HF~ HG5 HG6 HMJXF HQYDN HRMNR HVGLF HZ~ I09 IHE IJ- IKXTQ IWAJR IXC IXD IXE IZIGR IZQ I~X I~Z J-C J0Z J9A JBSCW JCJTX JZLTJ KDC KOV LAK LLZTM M4Y MA- N2Q NB0 NPVJJ NQJWS NU0 O9- O93 O9J OAM OVD P2P P9P PF0 PT4 PT5 QOS R89 R9I RNI RNS ROL RPX RSV RZC RZE RZK S16 S1Z S27 S3B SAP SDH SEG SHX SISQX SJYHP SNE SNPRN SNX SOHCF SOJ SPISZ SRMVM SSLCW STPWE SZN T13 TEORI TSG TSK TSV TUC U2A UG4 UOJIU UTJUX UZXMN VC2 VFIZW W23 W48 WK8 YLTOR Z45 Z7R Z7S Z7X Z7Z Z83 Z88 ZMTXR ~A9 AAPKM AAYXX ABBRH ABDBE ABFSG ABRTQ ACSTC ADHKG AEZWR AFDZB AFHIU AFOHR AGQPQ AHPBZ AHWEU AIXLP ATHPR AYFIA CITATION JQ2
ID	FETCH-LOGICAL-c319t-bfdf5051f403e38cc54cf74e76bb58eb1c50e89810a14d40132bbfe98d21279b3
IEDL.DBID	RSV
ISICitedReferencesCount	7
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001031431300002&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	1384-5640
IngestDate	Sun Nov 09 07:45:24 EST 2025 Sat Nov 29 02:44:52 EST 2025 Tue Nov 18 22:28:49 EST 2025 Fri Feb 21 02:41:51 EST 2025
IsPeerReviewed	true
IsScholarly	true
Issue	2
Keywords	Series/parallel coupling Coupling kinematics Statics Cable-driven hybrid robots Workspace
Language	English
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c319t-bfdf5051f403e38cc54cf74e76bb58eb1c50e89810a14d40132bbfe98d21279b3
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
PQID	3069557582
PQPubID	2043839
PageCount	31
ParticipantIDs	proquest_journals_3069557582 crossref_citationtrail_10_1007_s11044_023_09924_6 crossref_primary_10_1007_s11044_023_09924_6 springer_journals_10_1007_s11044_023_09924_6
PublicationCentury	2000
PublicationDate	2024-06-01
PublicationDateYYYYMMDD	2024-06-01
PublicationDate_xml	– month: 06 year: 2024 text: 2024-06-01 day: 01
PublicationDecade	2020
PublicationPlace	Dordrecht
PublicationPlace_xml	– name: Dordrecht
PublicationTitle	Multibody system dynamics
PublicationTitleAbbrev	Multibody Syst Dyn
PublicationYear	2024
Publisher	Springer Netherlands Springer Nature B.V
Publisher_xml	– name: Springer Netherlands – name: Springer Nature B.V
References	Pott (CR22) 2018; 50 Diao, Ma (CR4) 2009; 21 Osumi, Utsugi, Koshikawa (CR11) 2000 Hsu, Karkoub, Tsai, Her (CR5) 2004; 218 CR16 Gao, Song, Zhao, Guo, Sun, Tang (CR13) 2014; 76 Khalilpour, Khorrambakht, Damirchi, Taghirad, Cardou (CR9) 2021; 52 Peidró, Reinoso, Gil, Marín, Payá (CR33) 2017; 64 Cong, Song, Yang (CR20) 2006; 41 Elghazaly, Gouttefarde, Creuze (CR14) 2015 Arai, Matsumura, Yoshimura (CR26) 1999; 17 Korayem, Yousefzadeh, Manteghi (CR10) 2017; 40 Riechel, Ebert-Uphoff (CR19) 2004 Pott, Valentin (CR29) 2015 Luo, Zou, Wang, Lv, Huang (CR30) 2021; 71 Peng, Zhang, Ge, Han (CR31) 2022; 56 Peng, Xu, Yang, Hu, Liang (CR32) 2020; 101 Nan (CR6) 2006; 49 Chaikalis, Khorrami, Tzes (CR12) 2020 Diao, Ou (CR21) 2007; 42 Miyasaka, Haghighipanah, Li, Matheson, Lewis, Hannaford (CR23) 2020; 25 Peng, Zhang, Kang, Feng (CR7) 2022; 71 Peng, Xu, Wang, Han, Liang (CR28) 2021; 70 Abbasnejad, Eden, Lau (CR25) 2019; 35 Pinto, Moreira, Lima, Sousa, Costa (CR8) 2017; 41 Yuan, Courteille, Gouttefarde, Hervé (CR3) 2017; 394 An, Yuan, Tang, Xu, Wang (CR1) 2022; 27 Yuan, Courteille, Deblaise (CR2) 2015; 85 Qi, Rushton, Khajepour, Melek (CR15) 2019; 118 Yang, Cong, Song (CR27) 2006 Nguyen, Gouttefarde (CR17) 2014 Song, Lau (CR18) 2022; 38 Gosselin, Grenier (CR24) 2011; 46 H. Yuan (9924_CR3) 2017; 394 G. Elghazaly (9924_CR14) 2015 J. Peng (9924_CR7) 2022; 71 D. Chaikalis (9924_CR12) 2020 C. Song (9924_CR18) 2022; 38 A. Peidró (9924_CR33) 2017; 64 T. Arai (9924_CR26) 1999; 17 J. Peng (9924_CR28) 2021; 70 R.D. Nan (9924_CR6) 2006; 49 H. Yuan (9924_CR2) 2015; 85 A.M. Pinto (9924_CR8) 2017; 41 G. Luo (9924_CR30) 2021; 71 X.M. Diao (9924_CR21) 2007; 42 A. Pott (9924_CR29) 2015 M. Miyasaka (9924_CR23) 2020; 25 B. Gao (9924_CR13) 2014; 76 M.H. Korayem (9924_CR10) 2017; 40 K.S. Hsu (9924_CR5) 2004; 218 D.Q. Nguyen (9924_CR17) 2014 C. Gosselin (9924_CR24) 2011; 46 A.T. Riechel (9924_CR19) 2004 S.A. Khalilpour (9924_CR9) 2021; 52 G.L. Yang (9924_CR27) 2006 H. An (9924_CR1) 2022; 27 J. Peng (9924_CR31) 2022; 56 B.P. Cong (9924_CR20) 2006; 41 J. Peng (9924_CR32) 2020; 101 X. Diao (9924_CR4) 2009; 21 H. Osumi (9924_CR11) 2000 A. Pott (9924_CR22) 2018; 50 R. Qi (9924_CR15) 2019; 118 9924_CR16 G. Abbasnejad (9924_CR25) 2019; 35
References_xml	– volume: 50 start-page: 190 year: 2018 end-page: 197 ident: CR22 article-title: Efficient computation of the workspace boundary, its properties and derivatives for cable-driven parallel robots publication-title: Comput. Kinemat. doi: 10.1007/978-3-319-60867-9_22 – volume: 118 start-page: 1 year: 2019 end-page: 12 ident: CR15 article-title: Decoupled modeling and model predictive control of a hybrid cable-driven robot (HCDR) publication-title: Robot. Auton. Syst. doi: 10.1016/j.robot.2019.04.013 – volume: 40 start-page: 55 year: 2017 end-page: 73 ident: CR10 article-title: Dynamics and input-output feedback linearization control of a wheeled mobile cable-driven parallel robot publication-title: Multibody Syst. Dyn. doi: 10.1007/s11044-016-9543-6 – volume: 394 start-page: 527 year: 2017 end-page: 544 ident: CR3 article-title: Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method publication-title: J. Sound Vib. doi: 10.1016/j.jsv.2017.02.003 – volume: 101 start-page: 233 year: 2020 end-page: 253 ident: CR32 article-title: Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot publication-title: Nonlinear Dyn. doi: 10.1007/s11071-020-05764-7 – volume: 49 start-page: 129 issue: 2 year: 2006 end-page: 148 ident: CR6 article-title: Five hundred meter aperture spherical radio telescope (FAST) publication-title: Sci. China, Ser. G, Phys. Mech. Astron. doi: 10.1007/s11433-006-0129-9 – ident: CR16 – volume: 56 start-page: 123 year: 2022 end-page: 152 ident: CR31 article-title: Two trajectory tracking control methods for space hyper-redundant cable-driven robots considering model uncertainty publication-title: Multibody Syst. Dyn. doi: 10.1007/s11044-022-09840-1 – start-page: 85 year: 2006 end-page: 90 ident: CR27 article-title: Workspace performance optimization of fully restrained cable-driven parallel manipulators publication-title: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems doi: 10.1109/IROS.2006.281747 – start-page: 498 year: 2000 end-page: 503 ident: CR11 article-title: Development of a manipulator suspended by parallel wire structure publication-title: The 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) – volume: 41 start-page: 1487 issue: 7 year: 2017 end-page: 1499 ident: CR8 article-title: A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning publication-title: Auton. Robots doi: 10.1007/s10514-016-9609-6 – volume: 52 start-page: 31 year: 2021 end-page: 58 ident: CR9 article-title: Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition publication-title: Multibody Syst. Dyn. doi: 10.1007/s11044-020-09761-x – start-page: 498 year: 2020 end-page: 503 ident: CR12 article-title: Adaptive control approaches for an unmanned aerial manipulation system publication-title: 2020 International Conference on Unmanned Aircraft Systems (ICUAS) – volume: 17 start-page: 3 issue: 1 year: 1999 end-page: 9 ident: CR26 article-title: A proposal for a wire suspended manipulator: a kinematic analysis publication-title: Robotica doi: 10.1017/S0263574799000995 – volume: 46 start-page: 3 issue: 1 year: 2011 end-page: 15 ident: CR24 article-title: On the determination of the force distribution in overconstrained cable-driven parallel mechanisms publication-title: Meccanica doi: 10.1007/s11012-010-9369-x – volume: 38 start-page: 2577 issue: 4 year: 2022 end-page: 2596 ident: CR18 article-title: Workspace-based model predictive control for cable-driven robots publication-title: IEEE Trans. Robot. doi: 10.1109/TRO.2021.3139585 – volume: 76 start-page: 56 year: 2014 end-page: 69 ident: CR13 article-title: Inverse kinematics and workspace analysis of a cable-driven parallel robot with a spring spine publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2014.01.016 – volume: 64 start-page: 197 year: 2017 end-page: 207 ident: CR33 article-title: An improved Monte Carlo method based on Gaussian growth to calculate the workspace of robots publication-title: Eng. Appl. Artif. Intell. doi: 10.1016/j.engappai.2017.06.009 – volume: 21 start-page: 347 year: 2009 end-page: 360 ident: CR4 article-title: Vibration analysis of cable-driven parallel manipulators publication-title: Multibody Syst. Dyn. doi: 10.1007/s11044-008-9144-0 – volume: 85 start-page: 64 year: 2015 end-page: 81 ident: CR2 article-title: Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2014.10.010 – volume: 25 start-page: 1095 issue: 2 year: 2020 end-page: 1104 ident: CR23 article-title: Modeling cable-driven robot with hysteresis and cable-pulley network friction publication-title: IEEE/ASME Trans. Mechatron. doi: 10.1109/TMECH.2020.2973428 – start-page: 3182 year: 2015 end-page: 3187 ident: CR29 article-title: On the forward kinematics of cable-driven parallel robots publication-title: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) doi: 10.1109/IROS.2015.7353818 – volume: 35 start-page: 147 issue: 1 year: 2019 end-page: 161 ident: CR25 article-title: Generalized ray-based lattice generation and graph representation of wrench-closure workspace for arbitrary cable-driven robots publication-title: IEEE Trans. Robot. doi: 10.1109/TRO.2018.2871395 – volume: 70 start-page: 1 year: 2021 end-page: 13 ident: CR28 article-title: A hybrid hand-eye calibration method for multilink cable-driven hyper-redundant manipulators publication-title: IEEE Trans. Instrum. Meas. – volume: 27 start-page: 5472 issue: 6 year: 2022 end-page: 5483 ident: CR1 article-title: A novel cable-driven parallel robot with movable anchor points capable for obstacle environments publication-title: IEEE/ASME Trans. Mechatron. doi: 10.1109/TMECH.2022.3181603 – volume: 71 start-page: 1 issue: 3522916 year: 2022 end-page: 16 ident: CR7 article-title: Endoscope FOV autonomous tracking method for robot-assisted surgery considering pose control, hand-eye coordination and image definition publication-title: IEEE Trans. Instrum. Meas. – volume: 42 start-page: 1563 issue: 12 year: 2007 end-page: 1576 ident: CR21 article-title: A method of verifying force-closure condition for general cable manipulators with seven cables publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2007.06.008 – volume: 41 start-page: 53 issue: 1 year: 2006 end-page: 69 ident: CR20 article-title: Force-closure workspace analysis of cable-driven parallel mechanisms publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2005.04.003 – start-page: 4956 year: 2004 end-page: 4962 ident: CR19 article-title: Force-feasible workspace analysis for underconstrained, point-mass cable robots publication-title: IEEE International Conference on Robotics and Automation – start-page: 1682 year: 2014 end-page: 1689 ident: CR17 article-title: Study of reconfigurable suspended cable-driven parallel robots for airplane maintenance publication-title: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems doi: 10.1109/IROS.2014.6942781 – start-page: 1672 year: 2015 end-page: 1678 ident: CR14 article-title: Hybrid cable-thruster actuated underwater vehicle-manipulator systems: a study on force capabilities publication-title: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) doi: 10.1109/IROS.2015.7353592 – volume: 71 year: 2021 ident: CR30 article-title: A novel kinematic parameters calibration method for industrial robot based on Levenberg-Marquardt and differential evolution hybrid algorithm publication-title: Robot. Comput.-Integr. Manuf. doi: 10.1016/j.rcim.2021.102165 – volume: 218 start-page: 121 issue: 3 year: 2004 end-page: 132 ident: CR5 article-title: Modelling and index analysis of a delta-type mechanism publication-title: Proc. Inst. Mech. Eng., Part K, J. Multi-Body Dyn. – volume: 25 start-page: 1095 issue: 2 year: 2020 ident: 9924_CR23 publication-title: IEEE/ASME Trans. Mechatron. doi: 10.1109/TMECH.2020.2973428 – volume: 50 start-page: 190 year: 2018 ident: 9924_CR22 publication-title: Comput. Kinemat. doi: 10.1007/978-3-319-60867-9_22 – ident: 9924_CR16 – start-page: 1682 volume-title: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems year: 2014 ident: 9924_CR17 doi: 10.1109/IROS.2014.6942781 – volume: 52 start-page: 31 year: 2021 ident: 9924_CR9 publication-title: Multibody Syst. Dyn. doi: 10.1007/s11044-020-09761-x – volume: 38 start-page: 2577 issue: 4 year: 2022 ident: 9924_CR18 publication-title: IEEE Trans. Robot. doi: 10.1109/TRO.2021.3139585 – volume: 27 start-page: 5472 issue: 6 year: 2022 ident: 9924_CR1 publication-title: IEEE/ASME Trans. Mechatron. doi: 10.1109/TMECH.2022.3181603 – volume: 218 start-page: 121 issue: 3 year: 2004 ident: 9924_CR5 publication-title: Proc. Inst. Mech. Eng., Part K, J. Multi-Body Dyn. – start-page: 4956 volume-title: IEEE International Conference on Robotics and Automation year: 2004 ident: 9924_CR19 – volume: 35 start-page: 147 issue: 1 year: 2019 ident: 9924_CR25 publication-title: IEEE Trans. Robot. doi: 10.1109/TRO.2018.2871395 – volume: 41 start-page: 53 issue: 1 year: 2006 ident: 9924_CR20 publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2005.04.003 – volume: 64 start-page: 197 year: 2017 ident: 9924_CR33 publication-title: Eng. Appl. Artif. Intell. doi: 10.1016/j.engappai.2017.06.009 – volume: 76 start-page: 56 year: 2014 ident: 9924_CR13 publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2014.01.016 – volume: 42 start-page: 1563 issue: 12 year: 2007 ident: 9924_CR21 publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2007.06.008 – volume: 46 start-page: 3 issue: 1 year: 2011 ident: 9924_CR24 publication-title: Meccanica doi: 10.1007/s11012-010-9369-x – start-page: 3182 volume-title: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) year: 2015 ident: 9924_CR29 doi: 10.1109/IROS.2015.7353818 – volume: 101 start-page: 233 year: 2020 ident: 9924_CR32 publication-title: Nonlinear Dyn. doi: 10.1007/s11071-020-05764-7 – volume: 21 start-page: 347 year: 2009 ident: 9924_CR4 publication-title: Multibody Syst. Dyn. doi: 10.1007/s11044-008-9144-0 – volume: 85 start-page: 64 year: 2015 ident: 9924_CR2 publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2014.10.010 – volume: 17 start-page: 3 issue: 1 year: 1999 ident: 9924_CR26 publication-title: Robotica doi: 10.1017/S0263574799000995 – volume: 71 year: 2021 ident: 9924_CR30 publication-title: Robot. Comput.-Integr. Manuf. doi: 10.1016/j.rcim.2021.102165 – volume: 56 start-page: 123 year: 2022 ident: 9924_CR31 publication-title: Multibody Syst. Dyn. doi: 10.1007/s11044-022-09840-1 – volume: 49 start-page: 129 issue: 2 year: 2006 ident: 9924_CR6 publication-title: Sci. China, Ser. G, Phys. Mech. Astron. doi: 10.1007/s11433-006-0129-9 – start-page: 498 volume-title: 2020 International Conference on Unmanned Aircraft Systems (ICUAS) year: 2020 ident: 9924_CR12 – volume: 41 start-page: 1487 issue: 7 year: 2017 ident: 9924_CR8 publication-title: Auton. Robots doi: 10.1007/s10514-016-9609-6 – start-page: 498 volume-title: The 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) year: 2000 ident: 9924_CR11 – volume: 118 start-page: 1 year: 2019 ident: 9924_CR15 publication-title: Robot. Auton. Syst. doi: 10.1016/j.robot.2019.04.013 – volume: 394 start-page: 527 year: 2017 ident: 9924_CR3 publication-title: J. Sound Vib. doi: 10.1016/j.jsv.2017.02.003 – volume: 40 start-page: 55 year: 2017 ident: 9924_CR10 publication-title: Multibody Syst. Dyn. doi: 10.1007/s11044-016-9543-6 – volume: 70 start-page: 1 year: 2021 ident: 9924_CR28 publication-title: IEEE Trans. Instrum. Meas. – start-page: 85 volume-title: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems year: 2006 ident: 9924_CR27 doi: 10.1109/IROS.2006.281747 – volume: 71 start-page: 1 issue: 3522916 year: 2022 ident: 9924_CR7 publication-title: IEEE Trans. Instrum. Meas. – start-page: 1672 volume-title: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) year: 2015 ident: 9924_CR14 doi: 10.1109/IROS.2015.7353592
SSID	ssj0021549
Score	2.4033148
Snippet	Compared with single rigid serial robots (RSRs) and cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) have the advantages of both CDPRs...
SourceID	proquest crossref springer
SourceType	Aggregation Database Enrichment Source Index Database Publisher
StartPage	163
SubjectTerms	Automotive Engineering Composite structures Configurations Control Coupling Dynamical Systems Electrical Engineering Engineering Flexibility Industrial applications Kinematic equations Kinematics Mechanical Engineering Modelling Optimization Quadratic programming Redundancy Robot dynamics Robots Task complexity Vibration Workspace
Title	Kinematics, statics modeling and workspace analysis of a cable-driven hybrid robot
URI	https://link.springer.com/article/10.1007/s11044-023-09924-6 https://www.proquest.com/docview/3069557582
Volume	61
WOSCitedRecordID	wos001031431300002&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVAVX databaseName: SpringerLINK Contemporary 1997-Present customDbUrl: eissn: 1573-272X dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0021549 issn: 1384-5640 databaseCode: RSV dateStart: 19970301 isFulltext: true titleUrlDefault: https://link.springer.com/search?facet-content-type=%22Journal%22 providerName: Springer Nature
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3dS8MwEA86fdAHp1NxOiUPvrlAP5I2fRRxCMKQ-cHeSnJNUJBV1ir433vpWquigr6UlKQhXJK73zW53xFyLDlXADxgieSGcYixpEN8gI08LUIVga2STcTjsZxOk6s6KKxobrs3R5KVpm6D3dBz4AxtDENUE3AWLZMVNHfSJWyYXN-9u1mOdKxysyRnIuJeHSrzfR-fzVGLMb8ci1bWZtT93zg3yUaNLunpYjlskSUz65FujTRpvY-LHln_QEO4TSaXWK6oW4shdRFGWKBVihyspmqWUXd7C1UPGHxbkJjQ3FJFwQVesWzuVCa9f3XRX3Se67zcIbej85uzC1bnWmCAm7Bk2mYWwZBvuReaUAIIDjbmJo60FhIVOgjPyET6nvJ55pyyQGtrEpk5inic3l3SmeUzs0eoUjYyoQ_SQOz-22kRxVwgzBSgRKCCPvEbkadQE5G7fBiPaUuh7ESYogjTSoRp1Ccn7988LWg4fm09aGYyrbdkkaJvlAgEpxIHMGxmrq3-ubf9vzU_IGsBAp_FdbIB6ZTzZ3NIVuGlfCjmR9VSfQMjfOEw
linkProvider	Springer Nature
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV1LS8QwEB58gXrwLb7NwZsG-kja9CiiKKuL-MJbSaYJCrIr21Xw3zvptrsqKuilpCQNYZLMfNNkvgHYU0JoRBHxTAnLBaZUMjE90CWBkbFO0FXJJtJ2W93fZ5d1UFjZ3HZvjiQrTT0KdiPPQXCyMZxQTSR4Mg6TgiyWZ8y_ur4bulmedKxys5TgMhFBHSrzfR-fzdEIY345Fq2szcn8_8a5AHM1umSHg-WwCGO2swTzNdJk9T4ul2D2Aw3hMly1qFxRt5YHzEcYUYFVKXKomulOwfztLVI9aOltQGLCuo5phj7wihc9rzLZw5uP_mK9run2V-D25Pjm6JTXuRY40ibsc-MKR2AodCKIbawQpUCXCpsmxkhFCh1lYFWmwkCHovBOWWSMs5kqPEU8Te8qTHS6HbsGTGuX2DhEZTH1_-2MTFIhCWZK1DLS0TqEjchzrInIfT6Mp3xEoexFmJMI80qEebIO-8Nvngc0HL-23mpmMq-3ZJmTb5RJAqeKBnDQzNyo-ufeNv7WfBemT28uzvPzs3ZrE2YiAkGDq2VbMNHvvdhtmMLX_mPZ26mW7Tu6EeQU
linkToPdf	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1Lj9MwEB4tZYWWA4UColDAB27U2jzsxDkioNpVUVXtS71F9sTWIqG0arJI_HvGSfpYBCuhvUQT2bGs8eubeOYbgA9KCI0oIp4pYbnAlCQT0wNdEhgZ6wRdk2winc3UYpHN96L4G2_3zZVkG9PgWZrK-nhVuONd4BtZEYLTecMJ4USCJw_gofCO9N5eP7_amlyegKwxuZTgMhFBFzbz9zZuH007vPnHFWlz8kz69-_zU3jSoU72qZ0mz-DAlgPodwiUdeu7GsDjPXrC53A2JbmhdK3GzEcekcCa1DlUzHRZMO_VRVsSWnpryU3Y0jHN0Adk8WLtt1J2_ctHhbH10izrF3A5-Xrx-YR3ORg40uKsuXGFI5AUOhHENlaIUqBLhU0TY6SijR5lYFWmwkCHovDGWmSMs5kqPHU8DftL6JXL0r4CprVLbByispj6_3lGJqmQBD8lahnpaAjhRv05dgTlPk_Gj3xHrexVmJMK80aFeTKEj9tvVi09x521R5tRzbulWuVkM2WSQKuiDow3o7gr_ndrr_-v-nt4NP8yyb-dzqZv4CgibNR6nI2gV69v7Fs4xJ_192r9rpnBvwG1Huz4
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Kinematics%2C+statics+modeling+and+workspace+analysis+of+a+cable-driven+hybrid+robot&rft.jtitle=Multibody+system+dynamics&rft.au=Peng%2C+Jianqing&rft.au=Guo%2C+Yonghua&rft.au=Meng%2C+Deshan&rft.au=Han%2C+Yu&rft.date=2024-06-01&rft.issn=1384-5640&rft.eissn=1573-272X&rft.volume=61&rft.issue=2&rft.spage=163&rft.epage=193&rft_id=info:doi/10.1007%2Fs11044-023-09924-6&rft.externalDBID=n%2Fa&rft.externalDocID=10_1007_s11044_023_09924_6
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1384-5640&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1384-5640&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1384-5640&client=summon