{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T17:56:55Z","timestamp":1772733415207,"version":"3.50.1"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2000,1,1]],"date-time":"2000-01-01T00:00:00Z","timestamp":946684800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2000,1]]},"abstract":"<jats:p>A new type of a parallel wire-driven robot is proposed in order to reach ultra-high speed. The driving principle of parallel wire systems is described. Since wires can only pull and not push on an object, at least <jats:italic>n<\/jats:italic>+1 wires are needed in order to move the \nobject in a <jats:italic>n<\/jats:italic>-dimensional space. In this paper, taking account of the effect of such redundancy on actuation, the motion stability in wire length coordinates is analyzed by using a Lyapunov function. Using \u201cVector Closure\u201d, it is proven that the hand position and orientation converge to the corresponding desired values and the internal force also converges to the desired one. Moreover, by making good use of  non-linear elasticity of \nparallel wire driven robots, it is claimed that the internal force arising from redundant actuation can effectively reduce vibration when the high-speed robot stops at desired points.  As a result, ultra-high speed with more than 40\u2006g(g:gravitational acceleration) can be \nattained by using relatively small actuators.<\/jats:p>","DOI":"10.1017\/s0263574799002477","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"13-21","source":"Crossref","is-referenced-by-count":323,"title":["High-speed manipulation by using parallel wire-driven robots"],"prefix":"10.1017","volume":"18","author":[{"given":"Sadao","family":"Kawamura","sequence":"first","affiliation":[]},{"given":"Hitoshi","family":"Kino","sequence":"additional","affiliation":[]},{"given":"Choe","family":"Won","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2000,1,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574799002477","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,2]],"date-time":"2019-09-02T16:24:02Z","timestamp":1567441442000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574799002477\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,1]]},"references-count":0,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2000,1]]}},"alternative-id":["S0263574799002477"],"URL":"https:\/\/doi.org\/10.1017\/s0263574799002477","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,1]]}}}