{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T08:32:02Z","timestamp":1761294722979,"version":"3.40.5"},"reference-count":42,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2024,4,11]],"date-time":"2024-04-11T00:00:00Z","timestamp":1712793600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,5]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Dynamic simulations of the cable-driven parallel robots (CDPRs) with cable models closer to reality can predict the motions of moving platforms more accurately than those with idealisations. Hence, the present work proposes an efficient and modular computational framework for this purpose. The primary focus is on the developments required in the context of CDPRs actuated by moving the exit points of cables while the lengths are held constant. Subsequently, the framework is extended to those cases where simultaneous changes in the lengths of cables are employed. Also, the effects due to the inertia, stiffness and damping properties of the cables undergoing 3D motions are included in their dynamic models. The efficient recursive forward dynamics algorithms from the prior works are utilised to minimise the computational effort. Finally, the efficacy of the proposed framework and the need for such an inclusive dynamic model are illustrated by applying it to different application scenarios using the spatial<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S026357472400047X_inline1.png\"\/><jats:tex-math>$4$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>-<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S026357472400047X_inline2.png\"\/><jats:tex-math>$4$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>CDPR as an example.<\/jats:p>","DOI":"10.1017\/s026357472400047x","type":"journal-article","created":{"date-parts":[[2024,4,11]],"date-time":"2024-04-11T09:04:45Z","timestamp":1712826285000},"page":"1676-1708","source":"Crossref","is-referenced-by-count":4,"title":["A modular computational framework for the dynamic analyses of cable-driven parallel robots with different types of actuation including the effects of inertia, elasticity and damping of cables"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2191-2581","authenticated-orcid":false,"given":"Teja Krishna","family":"Mamidi","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4462-8839","authenticated-orcid":false,"given":"Sandipan","family":"Bandyopadhyay","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,4,11]]},"reference":[{"doi-asserted-by":"crossref","unstructured":"[4] Saha, S. K. , \u201cThe UDU ${}^\\top$ Decomposition of Manipulator Inertia Matrix,\u201d In: Proceedings of IEEE International Conference on Robotics and Automation, Nagoya, Japan (IEEE, 1995) pp. 2829\u20132834.","key":"S026357472400047X_ref4","DOI":"10.1109\/ROBOT.1995.525684"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref2","DOI":"10.1016\/j.mechmachtheory.2021.104381"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref5","DOI":"10.1007\/978-3-319-76138-1"},{"key":"S026357472400047X_ref32","volume-title":"Intelligent Systems, Control and Automation: Science and Engineering","volume":"62","author":"Shah","year":"2013"},{"doi-asserted-by":"crossref","unstructured":"[17] Lee, T. , Sreenath, K. and Kumar, V. , \u201cGeometric Control of Cooperating Multiple Quadrotor UAVs with a Suspended Payload,\u201d In: Proceedings of the 52nd IEEE Conference on Decision and Control, 10-13, Firenze, Italy (IEEE, 2013) pp. 5510\u20135515.","key":"S026357472400047X_ref17","DOI":"10.1109\/CDC.2013.6760757"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref28","DOI":"10.1115\/1.4031294"},{"key":"S026357472400047X_ref8","first-page":"1","article-title":"Cooperative towing with multiple robots","volume":"1","author":"Cheng","year":"2009","journal-title":"J Mech Rob"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref15","DOI":"10.1016\/j.mechmachtheory.2023.105338"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref25","DOI":"10.5772\/53670"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref9","DOI":"10.1007\/s10514-010-9205-0"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref34","DOI":"10.1115\/1.4035798"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref20","DOI":"10.1115\/1.4033945"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref11","DOI":"10.1115\/1.2218882"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref37","DOI":"10.1007\/978-90-481-9262-5_33"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref19","DOI":"10.2514\/6.2019-3270"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref36","DOI":"10.1016\/j.mechmachtheory.2016.02.014"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref3","DOI":"10.1016\/j.marstruc.2021.103006"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref29","DOI":"10.1142\/S0219455418500177"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref6","DOI":"10.1007\/978-3-7091-1379-0_1"},{"unstructured":"[10] Kery, S. , Hughes, G. , May, E. , Kjolseth, P. , Pang, M. , Thomas, W. , Treakle, T. and Liut, D. , \u201cAchieving High Container Through-Put Rates, between Vessels in High Seas (a vision of HiCASS),\u201d In: Proceedings of OCEANS. 2005 MTS\/IEEE, Washington, DC, USA (IEEE, 2005) pp. 1\u20136.","key":"S026357472400047X_ref10"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref42","DOI":"10.1007\/s12555-014-0304-0"},{"doi-asserted-by":"crossref","unstructured":"[23] Yamamoto, M. , Yanai, N. and Mohri, A. , \u201cInverse Dynamics and Control of Crane-Type Manipulator,\u201d In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea (South) (IEEE, 1999) pp. 1228\u20131233. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No. 99CH36289).","key":"S026357472400047X_ref23","DOI":"10.1109\/IROS.1999.812847"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref41","DOI":"10.1115\/1.4038068"},{"doi-asserted-by":"crossref","unstructured":"[7] Maeda, K. , Tadokoro, S. , Takamori, T. , Hiller, M. and Verhoeven, R. , \u201cOn Design of a Redundant Wire-Driven Parallel Robot WARP Manipulator,\u201d In: Proceedings of IEEE International Conference on Robotics and Automation, Detroit, MI, USA (IEEE, 1999) pp. 895\u2013900.","key":"S026357472400047X_ref7","DOI":"10.1109\/ROBOT.1999.772403"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref22","DOI":"10.1109\/ITSC.2019.8917202"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref31","DOI":"10.1007\/s11044-013-9379-2"},{"doi-asserted-by":"crossref","unstructured":"[16] Sreenath, K. and Kumar, V. , \u201cDynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots,\u201d In: Proceedings of the Robotics: Science and Systems IX, Berlin, Germany (2013).","key":"S026357472400047X_ref16","DOI":"10.15607\/RSS.2013.IX.011"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref33","DOI":"10.1007\/s42452-019-0698-7"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref35","DOI":"10.1109\/INDIANCC.2018.8308004"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref14","DOI":"10.1109\/IROS.2016.7759262"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref12","DOI":"10.1109\/AIM.2009.5229781"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref21","DOI":"10.1007\/s10846-020-01195-z"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref27","DOI":"10.1007\/s11071-022-07397-4"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref39","DOI":"10.1109\/CCTA.2017.8062443"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref1","DOI":"10.1109\/LRA.2020.2964165"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref13","DOI":"10.1007\/978-3-030-22327-4_8"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref24","DOI":"10.1016\/j.aei.2021.101388"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref26","DOI":"10.1109\/IROS40897.2019.8968133"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref18","DOI":"10.1109\/ICUAS.2016.7502605"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref30","DOI":"10.1007\/978-1-4899-7560-7"},{"doi-asserted-by":"publisher","key":"S026357472400047X_ref38","DOI":"10.1017\/CBO9780511665479"},{"volume-title":"Numerical Solution of Initial-Value Problems in Differential-Algebraic Equations","year":"1996","author":"Brenan","key":"S026357472400047X_ref40"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357472400047X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,16]],"date-time":"2024-11-16T02:15:18Z","timestamp":1731723318000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357472400047X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,4,11]]},"references-count":42,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2024,5]]}},"alternative-id":["S026357472400047X"],"URL":"https:\/\/doi.org\/10.1017\/s026357472400047x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2024,4,11]]}}}