{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T05:08:33Z","timestamp":1774933713772,"version":"3.50.1"},"reference-count":47,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2018,8,22]],"date-time":"2018-08-22T00:00:00Z","timestamp":1534896000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A compliant actuator actuated by one motor exerts force on both bodies of the platform. Due to the high tension that appears in this cable in comparison with the rest of the cables, an elastic model was developed for solving the kinestostatic and wrench analysis. A linear sensor was used in one branch of this cable mechanism to provide the needed intermediate values. The position of one link of the platform was fixed in order to focus this analysis on the relationship between the cables and the platform\u2019s internal movement. Position values of the reconfigurable end effector were calculated and measured as well as the tension at different regions of the compliant actuator. The theoretical values were compared with dynamic simulations and real prototype results.<\/jats:p>","DOI":"10.3390\/s18092765","type":"journal-article","created":{"date-parts":[[2018,8,23]],"date-time":"2018-08-23T03:00:46Z","timestamp":1534993246000},"page":"2765","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9710-7810","authenticated-orcid":false,"given":"Alejandro","family":"Rodriguez-Barroso","sequence":"first","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8009-5350","authenticated-orcid":false,"given":"Roque","family":"Saltaren","sequence":"additional","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4287-0800","authenticated-orcid":false,"given":"Gerardo A.","family":"Portilla","sequence":"additional","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3348-0533","authenticated-orcid":false,"given":"Juan S.","family":"Cely","sequence":"additional","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Carpio","sequence":"additional","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"},{"name":"Grupo de Investigaci\u00f3n en Interacci\u00f3n Rob\u00f3tica y Autom\u00e1tica, Universidad Polit\u00e9cnica Salesiana, Calle Turuhuayco 3-69 y Calle Vieja, 10150 Cuenca, Ecuador"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,8,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"989","DOI":"10.1142\/S0218271811019335","article-title":"The five-hundred-meter aperture spherical radio telescope (FAST) project","volume":"20","author":"Nan","year":"2011","journal-title":"Int. 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