{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T08:30:32Z","timestamp":1770453032750,"version":"3.49.0"},"reference-count":37,"publisher":"Cambridge University Press (CUP)","issue":"11","license":[{"start":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T00:00:00Z","timestamp":1763424000000},"content-version":"unspecified","delay-in-days":17,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,11]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>This paper focuses on six-degree-of-freedom (six-DOF) spatial cable-suspended parallel robots with eight cables (8-6 CSPRs) because the redundantly actuated CSPRs are relevant in many applications, such as large-scale assembly and handling tasks, and pick-and-place operations. One of the main concerns for the 8-6 CSPRs is the stability because employing cables with strong flexibility and unidirectional restraint operates the end-effector of the robot under external disturbances. As a consequence, this paper attempts to address two key issues related to the 8-6 CSPRs: the force-pose stability measure method and the stability sensitivity analysis method. First, a force-pose stability measure model taking into account the poses of the end-effector and the cable tensions of the 8-6 CSPR is presented, in which two cable tension influencing factors and two position influencing factors are developed, while an attitude influence function representing the influence of the attitudes of the end-effector on the stability of the robot is constructed. And furthermore, a new type of workspace related to the force-pose stability of the 8-6 CSPRs is defined and generated in this paper. Second, a force-pose stability sensitivity analysis method for the 8-6 CSPRs is developed with the gray relational analysis method, where the relationship between the force-pose stability of the robot and the 14 influencing factors (the end-effector\u2019s poses and cable tensions) is investigated to reveal the sequence of the 14 influencing factors on the force-pose stability of the robot. Finally, the proposed force-pose stability measure method and stability sensitivity analysis method for the 8-6 CSPRs are verified through simulations.<\/jats:p>","DOI":"10.1017\/s0263574725102762","type":"journal-article","created":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T15:15:38Z","timestamp":1763478938000},"page":"4040-4063","source":"Crossref","is-referenced-by-count":0,"title":["On the force-pose stability sensitivity analysis method for six-degree-of-freedom spatial cable-suspended parallel robots with eight cables"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9631-575X","authenticated-orcid":false,"given":"Peng","family":"Liu","sequence":"first","affiliation":[{"name":"Xi\u2019an University of Science and Technology"},{"name":"Xidian University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuechao","family":"Duan","sequence":"additional","affiliation":[{"name":"Xidian University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhufeng","family":"Shao","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9932-3157","authenticated-orcid":false,"given":"Jing","family":"Xia","sequence":"additional","affiliation":[{"name":"Xi\u2019an University of Science and Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,11,18]]},"reference":[{"key":"S0263574725102762_ref22","first-page":"54","article-title":"A grey relational analysis method for structural stability sensitivity of cable-suspended camera robots including presence of cable mass","volume":"34","author":"Liu","year":"2022","journal-title":"J. Grey Syst.-UK"},{"key":"S0263574725102762_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2021.102648"},{"key":"S0263574725102762_ref15","volume-title":"Disturbance Robustness Measures and Wrench-Feasible Workspace Generation Techniques for Cable-Driven Robots","author":"Bosscher","year":"2004"},{"key":"S0263574725102762_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-022-10323-y"},{"key":"S0263574725102762_ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.104763"},{"key":"S0263574725102762_ref12","doi-asserted-by":"publisher","DOI":"10.1115\/1.2114890"},{"key":"S0263574725102762_ref13","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/350492"},{"key":"S0263574725102762_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S026357472300111X"},{"key":"S0263574725102762_ref23","doi-asserted-by":"publisher","DOI":"10.3390\/machines11030338"},{"key":"S0263574725102762_ref14","doi-asserted-by":"crossref","unstructured":"[14] Bosscher, P. and Ebert-Uphoff, I. . \u201cA Stability Measure for Underconstrained Cable-Driven Robots,\u201d In: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA \u201904 (2004) pp. 4943\u20134949.","DOI":"10.1109\/ROBOT.2004.1302501"},{"key":"S0263574725102762_ref21","doi-asserted-by":"publisher","DOI":"10.3390\/math10244653"},{"key":"S0263574725102762_ref20","doi-asserted-by":"publisher","DOI":"10.1177\/17298814211059729"},{"key":"S0263574725102762_ref30","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574724001590"},{"key":"S0263574725102762_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2023.104611"},{"key":"S0263574725102762_ref17","first-page":"185","article-title":"An approach to evaluate stability for cable-based parallel camera robots with hybrid tension-stiffness properties","volume":"12","author":"Wei","year":"2015","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"S0263574725102762_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s11012-010-9369-x"},{"key":"S0263574725102762_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000879"},{"key":"S0263574725102762_ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-023-09924-6"},{"key":"S0263574725102762_ref3","doi-asserted-by":"publisher","DOI":"10.1177\/09544062241293253"},{"key":"S0263574725102762_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.4062792"},{"key":"S0263574725102762_ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.evalprogplan.2019.101762"},{"key":"S0263574725102762_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543805"},{"key":"S0263574725102762_ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105551"},{"key":"S0263574725102762_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105507"},{"key":"S0263574725102762_ref37","doi-asserted-by":"publisher","DOI":"10.1177\/0954405413494383"},{"key":"S0263574725102762_ref26","doi-asserted-by":"publisher","DOI":"10.3390\/s24134326"},{"key":"S0263574725102762_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001273"},{"key":"S0263574725102762_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s40430-018-1172-y"},{"key":"S0263574725102762_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001248"},{"key":"S0263574725102762_ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0954410016646601"},{"key":"S0263574725102762_ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0954406215597712"},{"key":"S0263574725102762_ref35","first-page":"6699","article-title":"Colleges\u2019 performance assessment of university based on grey relational analysis","volume":"44","author":"Liu","year":"2023","journal-title":"J. Intell. Fuzzy Syst."},{"key":"S0263574725102762_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-007-7214-4_16"},{"key":"S0263574725102762_ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-019-1040-4"},{"key":"S0263574725102762_ref25","doi-asserted-by":"publisher","DOI":"10.1177\/0954406216645628"},{"key":"S0263574725102762_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-022-08919-5"},{"key":"S0263574725102762_ref24","doi-asserted-by":"publisher","DOI":"10.3390\/act12010017"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574725102762","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,3]],"date-time":"2026-02-03T22:25:28Z","timestamp":1770157528000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574725102762\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11]]},"references-count":37,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2025,11]]}},"alternative-id":["S0263574725102762"],"URL":"https:\/\/doi.org\/10.1017\/s0263574725102762","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11]]}}}