{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T12:39:53Z","timestamp":1777639193416,"version":"3.51.4"},"reference-count":13,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2005,8,1]],"date-time":"2005-08-01T00:00:00Z","timestamp":1122854400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2005,8,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>This paper presents a new method for deploying RoboCrane\u2010type cable robots, without the need for fixed rigid cable support points. That is, the system provides its own deployable mobile overhead support points.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>This paper presents a new RoboCrane support concept based on rigid members, cable actuation, and cable suspension. It is self\u2010contained and provides mobility for the required six overhead cable connections, thus extending the workspace of the existing RoboCrane. The paper presents the RoboCrane support concept overview, followed by kinematics and statics analysis, plus a case study of a specific design.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Design for kinematic horizontality, workspace, and statics are competing so the designer must make tradeoffs for the best system performance according to specific design needs.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>Since the support system plus RoboCrane are both cable\u2010suspended robots, there are limitations in the pseudostatic workspace, i.e. since the cables can only exert tension and cannot push, the motion range is limited.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>Specific system design and deployment is still remaining work \u2013 practical issues such as outriggers for moment and tipping resistance, easy portability, control of the mast from the ground, and safety must be solved in the future.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Enables RoboCrane applications in many more arenas, such as automated construction, where rigid overhead cable support points are simply unavailable.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910510600191","type":"journal-article","created":{"date-parts":[[2005,6,28]],"date-time":"2005-06-28T03:19:29Z","timestamp":1119928769000},"page":"326-333","source":"Crossref","is-referenced-by-count":9,"title":["Novel cable\u2010suspended RoboCrane support"],"prefix":"10.1108","volume":"32","author":[{"suffix":"II","given":"Robert L.","family":"Williams","sequence":"first","affiliation":[]}],"member":"140","reference":[{"key":"key2022012720315583800_b1","unstructured":"Albus, J.S. (1989), \u201cCable arrangement and lifting platform for stabilized load lifting\u201d, US Patent 4,883,184, 28 November."},{"key":"key2022012720315583800_b2","doi-asserted-by":"crossref","unstructured":"Albus, J.S., Bostelman, R. and Dagalakis, N.G. (1993), \u201cThe NIST.RoboCrane\u201d, Journal of Robotic Systems, Vol. 10 No. 5, pp. 709\u201024.","DOI":"10.1002\/rob.4620100509"},{"key":"key2022012720315583800_b3","unstructured":"Aria, T., Osumi, H. and Yamaguchi, H. (1990), \u201cAssembly robot suspended by three wires with seven degrees of freedom\u201d, paper presented at 11th International Conference on Assembly Automation, MS90\u2010807, SME, Dearborn, MI."},{"key":"key2022012720315583800_b4","unstructured":"Bostelman, R.V., Albus, J.S. and Watt, A.M. (1996), \u201cUnderwater work platform support system\u201d, US Patent 5,507,596, 16 April."},{"key":"key2022012720315583800_b5","unstructured":"Craig, J.J. (1989), Introduction to Robotics: Mechanics and Control, Addison\u2010Wesley Publishing Co., Reading, MA."},{"key":"key2022012720315583800_b6","doi-asserted-by":"crossref","unstructured":"Dagalakis, N.G., Albus, J.S., Wang, B\u2010L., Unger, J. and Lee, J.D. (1989), \u201cStiffness study of a parallel link robot crane for shipbuilding applications\u201d, Journal of Offshore Mechanical and Architectural Engineering, Vol. 111 No. 3, pp. 183\u201093.","DOI":"10.1115\/1.3257146"},{"key":"key2022012720315583800_b7","unstructured":"Mikulas, M.M. Jr and Yang, L\u2010F. (1991), \u201cConceptual design of a multiple cable crane for planetary surface operations\u201d, NASA Technical Memorandum 104041, NASA LaRC, Hampton, VA."},{"key":"key2022012720315583800_b8","unstructured":"Shanmugasundram, A.P. and Moon, F.C. (1995), \u201cDevelopment of a parallel link crane: modeling and control of a system with unilateral cable constraints\u201d, ASME International Mechanical Engineering Congress and Exposition, San Francisco, CA, DSC 57\u20101, pp. 55\u201065."},{"key":"key2022012720315583800_b9","unstructured":"Shiang, W\u2010J., Cannon, D. and Gorman, J. (1999), \u201cDynamic analysis of the cable array robotic crane\u201d, paper presented at IEEE International Conference on Robotics and Automation, Detroit MI, 4, pp. 2495\u2010500."},{"key":"key2022012720315583800_b10","doi-asserted-by":"crossref","unstructured":"Viscomi, B.V., Michalerya, W.D. and Lu, L\u2010W. (1994), \u201cAutomated construction in the ATLSS integrated building systems\u201d, Automation in Construction, Vol. 3 No. 1, pp. 35\u201043.","DOI":"10.1016\/0926-5805(94)90030-2"},{"key":"key2022012720315583800_b11","unstructured":"Williams, R.L. II (2003), \u201cNIST sabbatical report: 2 self\u2010contained automated construction crane system\u201d, submitted to Dr James S. Albus, NIST Fellow, NIST Grant #70NANB2H0130, 31 May."},{"key":"key2022012720315583800_b12","doi-asserted-by":"crossref","unstructured":"Williams, R.L. II, Albus, J.S. and Bostelman, R.V. (2004), \u201c3D cable\u2010based Cartesian metrology system\u201d, Journal of Robotic Systems, Vol. 21 No. 5, pp. 237\u201057.","DOI":"10.1002\/rob.20012"},{"key":"key2022012720315583800_b13","unstructured":"Yamamoto, M., Yanai, N. and Mohri, A. 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