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A new cable-and-pulley differential is designed by adding an extra pulley to eliminate the modeling inaccuracies due to the pulley radius and obviate the need of solving the complex model which considers the pulley kinematics. The design parameters of the proposed CPR are determined through multi-objective optimal design for the largest total orientation wrench closure workspace (TOWCW) and the highest global stiffness magnitude index. The proposed differentially driven CPR is evaluated by comparing various performance indices with a fully actuated CPR.<\/jats:p>","DOI":"10.1017\/s0263574721000266","type":"journal-article","created":{"date-parts":[[2021,5,4]],"date-time":"2021-05-04T07:33:27Z","timestamp":1620113607000},"page":"2193-2209","source":"Crossref","is-referenced-by-count":10,"title":["Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot"],"prefix":"10.1017","volume":"39","author":[{"given":"Ruobing","family":"Wang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4448-3310","authenticated-orcid":false,"given":"Yangmin","family":"Li","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,5,4]]},"reference":[{"key":"S0263574721000266_ref9","doi-asserted-by":"crossref","unstructured":"[9] Birglen, L. and Gouttefarde, M. , \u201cStiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots,\u201d Proceedings of the International Conference on Cable-Driven Parallel Robots (2019) pp. 61\u201371.","DOI":"10.1007\/978-3-030-20751-9_6"},{"key":"S0263574721000266_ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.4005568"},{"key":"S0263574721000266_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/4235.996017"},{"key":"S0263574721000266_ref13","doi-asserted-by":"publisher","DOI":"10.3390\/robotics7020015"},{"key":"S0263574721000266_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2295891"},{"key":"S0263574721000266_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104141"},{"key":"S0263574721000266_ref20","doi-asserted-by":"crossref","unstructured":"[20] A. Pott, \u201cEfficient Computation of the Workspace Boundary, its Properties and Derivatives for Cable-Driven Parallel Robots,\u201d Proceedings of the International Workshop on Computational Kinematics, Futuroscope-Poitiers (2017) pp. 190\u2013197.","DOI":"10.1007\/978-3-319-60867-9_22"},{"key":"S0263574721000266_ref11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714002677"},{"key":"S0263574721000266_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2301532"},{"key":"S0263574721000266_ref7","doi-asserted-by":"crossref","unstructured":"[7] Khakpour, H. and Birglen, L. , \u201cWorkspace Augmentation of Spatial 3-DOF Cable Parallel Robots Using Differential Actuation,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Chicago (2014) pp. 3880\u20133885.","DOI":"10.1109\/IROS.2014.6943107"},{"key":"S0263574721000266_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.02.002"},{"key":"S0263574721000266_ref2","doi-asserted-by":"publisher","DOI":"10.1299\/mer.2014dsm0004"},{"key":"S0263574721000266_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.10.017"},{"key":"S0263574721000266_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2400253"},{"key":"S0263574721000266_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2871395"},{"key":"S0263574721000266_ref8","doi-asserted-by":"publisher","DOI":"10.1115\/1.4028931"},{"key":"S0263574721000266_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-018-0539-4"},{"key":"S0263574721000266_ref14","doi-asserted-by":"publisher","DOI":"10.1115\/1.4046030"},{"key":"S0263574721000266_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471900170X"},{"key":"S0263574721000266_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2875415"},{"key":"S0263574721000266_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.870638"},{"key":"S0263574721000266_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.06.004"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574721000266","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,25]],"date-time":"2021-11-25T16:15:52Z","timestamp":1637856952000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574721000266\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,4]]},"references-count":22,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2021,12]]}},"alternative-id":["S0263574721000266"],"URL":"https:\/\/doi.org\/10.1017\/s0263574721000266","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,4]]}}}