<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-04045444</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-20T01:26:24+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Toward the Creation of a Hybrid 4-UPS CDPR</title>
            <author role="aut">
              <persName>
                <forename type="first">Paul W.</forename>
                <surname>Sanford</surname>
              </persName>
              <email type="md5">4c45daaba8c3000164db695943a8cd0e</email>
              <email type="domain">unb.ca</email>
              <idno type="idhal" notation="numeric">1241099</idno>
              <idno type="halauthorid" notation="string">2768093-1241099</idno>
              <affiliation ref="#struct-110334"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Juan Antonio</forename>
                <surname>Carretero</surname>
              </persName>
              <email type="md5">43f402ec7f29150fac66a7c7b60e5bf7</email>
              <email type="domain">unb.ca</email>
              <idno type="idhal" notation="numeric">1241100</idno>
              <idno type="halauthorid" notation="string">1102895-1241100</idno>
              <affiliation ref="#struct-110334"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Andrew C.</forename>
                <surname>Mathis</surname>
              </persName>
              <email type="md5">33281b36db37ecabebee6f7280d649ef</email>
              <email type="domain">unb.ca</email>
              <idno type="idhal" notation="numeric">1241101</idno>
              <idno type="halauthorid" notation="string">2768094-1241101</idno>
              <affiliation ref="#struct-110334"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Stéphane</forename>
                <surname>Caro</surname>
              </persName>
              <email type="md5">7bbf351891b48947980192a9c45ed985</email>
              <email type="domain">ls2n.fr</email>
              <idno type="idhal" notation="string">stephane-caro</idno>
              <idno type="idhal" notation="numeric">10659</idno>
              <idno type="halauthorid" notation="string">2287-10659</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-8736-7870</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=IiBLzvgAAAAJ&amp;hl=fr</idno>
              <idno type="IDREF">https://www.idref.fr/091999286</idno>
              <affiliation ref="#struct-441569"/>
              <affiliation ref="#struct-1088564"/>
              <affiliation ref="#struct-1088586"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Stéphane</forename>
                <surname>CARO</surname>
              </persName>
              <email type="md5">7bbf351891b48947980192a9c45ed985</email>
              <email type="domain">ls2n.fr</email>
            </editor>
            <funder>Supported by NSERC Discovery Grant funding</funder>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2023-03-27 10:34:18</date>
              <date type="whenModified">2026-02-07 05:25:06</date>
              <date type="whenReleased">2023-03-27 15:29:47</date>
              <date type="whenProduced">2023-06-25</date>
              <date type="whenEndEmbargoed">2023-03-24</date>
              <ref type="file" target="https://hal.science/hal-04045444v1/document">
                <date notBefore="2023-03-24"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-04045444v1/file/CableCon2023_paper_034.pdf" id="file-4045444-3522257">
                <date notBefore="2023-03-24"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="134126">
                <persName>
                  <forename>Stéphane</forename>
                  <surname>CARO</surname>
                </persName>
                <email type="md5">7bbf351891b48947980192a9c45ed985</email>
                <email type="domain">ls2n.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-04045444</idno>
            <idno type="halUri">https://hal.science/hal-04045444</idno>
            <idno type="halBibtex">sanford:hal-04045444</idno>
            <idno type="halRefHtml">&lt;i&gt;The Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023)&lt;/i&gt;, Jun 2023, Nantes, France</idno>
            <idno type="halRef">The Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023), Jun 2023, Nantes, France</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-4045444-3522257"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="EC-NANTES">Ecole Centrale de Nantes</idno>
            <idno type="stamp" n="UNAM">l'unam - université nantes angers le mans</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
            <idno type="stamp" n="LS2N">Laboratoire des Sciences du Numérique de Nantes</idno>
            <idno type="stamp" n="LS2N-ROMAS" corresp="LS2N">LS2N - équipe RoMas ( Robot and Machine for Manufacturing, Society and Services )</idno>
            <idno type="stamp" n="INSTITUTS-TELECOM">composantes instituts telecom </idno>
            <idno type="stamp" n="NANTES-UNIVERSITE">Nantes Université</idno>
            <idno type="stamp" n="NANTES-UNIV">Nantes Université</idno>
            <idno type="stamp" n="INRIA-CANADA">INRIA-CANADA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Toward the Creation of a Hybrid 4-UPS CDPR</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Paul W.</forename>
                    <surname>Sanford</surname>
                  </persName>
                  <email type="md5">4c45daaba8c3000164db695943a8cd0e</email>
                  <email type="domain">unb.ca</email>
                  <idno type="idhal" notation="numeric">1241099</idno>
                  <idno type="halauthorid" notation="string">2768093-1241099</idno>
                  <affiliation ref="#struct-110334"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Juan Antonio</forename>
                    <surname>Carretero</surname>
                  </persName>
                  <email type="md5">43f402ec7f29150fac66a7c7b60e5bf7</email>
                  <email type="domain">unb.ca</email>
                  <idno type="idhal" notation="numeric">1241100</idno>
                  <idno type="halauthorid" notation="string">1102895-1241100</idno>
                  <affiliation ref="#struct-110334"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Andrew C.</forename>
                    <surname>Mathis</surname>
                  </persName>
                  <email type="md5">33281b36db37ecabebee6f7280d649ef</email>
                  <email type="domain">unb.ca</email>
                  <idno type="idhal" notation="numeric">1241101</idno>
                  <idno type="halauthorid" notation="string">2768094-1241101</idno>
                  <affiliation ref="#struct-110334"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Stéphane</forename>
                    <surname>Caro</surname>
                  </persName>
                  <email type="md5">7bbf351891b48947980192a9c45ed985</email>
                  <email type="domain">ls2n.fr</email>
                  <idno type="idhal" notation="string">stephane-caro</idno>
                  <idno type="idhal" notation="numeric">10659</idno>
                  <idno type="halauthorid" notation="string">2287-10659</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-8736-7870</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=IiBLzvgAAAAJ&amp;hl=fr</idno>
                  <idno type="IDREF">https://www.idref.fr/091999286</idno>
                  <affiliation ref="#struct-441569"/>
                  <affiliation ref="#struct-1088564"/>
                  <affiliation ref="#struct-1088586"/>
                </author>
              </analytic>
              <monogr>
                <title level="m">Proceedings of the the Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023)</title>
                <meeting>
                  <title>The Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023)</title>
                  <date type="start">2023-06-25</date>
                  <date type="end">2023-06-28</date>
                  <settlement>Nantes</settlement>
                  <country key="FR">France</country>
                </meeting>
                <imprint/>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Cable-driven parallel manipulator</term>
                <term xml:lang="en">telescoping actuator</term>
              </keywords>
              <classCode scheme="halDomain" n="spi">Engineering Sciences [physics]</classCode>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>A hybrid cable-driven parallel robot (CDPR) is being developed that expands the capabilities of conventional CDPRs by replacing one of the cables with a linear actuator that can be spooled and extended. This actuator uses three curved leaf springs connected using magnetic strips to provide compressive or tensile forces while being very compactly stored, and is kinematically similar to a cable that can push. When used in conjunction with a suspended CDPR, this actuator is being designed to be part of a novel pick-and-place robot that combines the benefits of cable robots (lightweight actuators) with those of a conventional manipulator (each of the actuators can be above the workspace to help avoid cable collisions). The developments of this novel actuator are outlined, showing how pointing motions were made possible through mechanical design.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="institution" xml:id="struct-110334" status="VALID">
          <idno type="ROR">https://ror.org/05nkf0n29</idno>
          <orgName>University of New Brunswick</orgName>
          <orgName type="acronym">UNB</orgName>
          <desc>
            <address>
              <addrLine>UNB Fredericton P.O. Box 4400 Fredericton, New Brunswick, Canada E3B 5A3 -  UNB Saint John 100 Tucker Park Road P.O. Box 5050 Saint John, New Brunswick, Canada E2L 4L5</addrLine>
              <country key="CA"/>
            </address>
            <ref type="url">http://www.unb.ca/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-1088564" status="VALID">
          <idno type="IdRef">203637585</idno>
          <idno type="RNSR">201722241F</idno>
          <idno type="ROR">https://ror.org/02snf8m58</idno>
          <orgName>Laboratoire des Sciences du Numérique de Nantes</orgName>
          <orgName type="acronym">LS2N</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <addrLine>Nantes Université – faculté des Sciences et Techniques (FST)2 Chemin de la HoussinièreBP 92208, 44322 Nantes Cedex 3</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.ls2n.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
            <relation name="UMR6004" active="#struct-441569" type="direct"/>
            <relation active="#struct-481355" type="direct"/>
            <relation active="#struct-302102" type="indirect"/>
            <relation active="#struct-1086798" type="direct"/>
            <relation active="#struct-1083366" type="indirect"/>
            <relation active="#struct-1088543" type="direct"/>
            <relation active="#struct-1083400" type="indirect"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-1088586" status="VALID">
          <orgName>Robots and Machines for Manufacturing, Society and Services</orgName>
          <orgName type="acronym">LS2N - équipe RoMas</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-1088564" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation name="UMR6004" active="#struct-441569" type="indirect"/>
            <relation active="#struct-481355" type="indirect"/>
            <relation active="#struct-302102" type="indirect"/>
            <relation active="#struct-1086798" type="indirect"/>
            <relation active="#struct-1083366" type="indirect"/>
            <relation active="#struct-1088543" type="indirect"/>
            <relation active="#struct-1083400" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-481355" status="VALID">
          <idno type="IdRef">202743233</idno>
          <idno type="ROR">https://ror.org/030hj3061</idno>
          <orgName>IMT Atlantique</orgName>
          <orgName type="acronym">IMT Atlantique</orgName>
          <date type="start">2017-01-01</date>
          <desc>
            <address>
              <addrLine>Campus Brest : Technopôle Brest-Iroise CS 8381829238 BREST Cedex 3 -Campus Nantes : 4, rue Alfred Kastler- La chantrerie 44300 NANTES -Campus Rennes :  2 Rue de la Châtaigneraie, 35510 CESSON SEVIGNE</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.imt-atlantique.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-302102" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-302102" status="VALID">
          <idno type="IdRef">192427156</idno>
          <idno type="ISNI">000000012202567X</idno>
          <idno type="ROR">https://ror.org/025vp2923</idno>
          <idno type="Wikidata">Q27962533</idno>
          <orgName>Institut Mines-Télécom [Paris]</orgName>
          <orgName type="acronym">IMT</orgName>
          <date type="start">2012-03-01</date>
          <desc>
            <address>
              <addrLine>19 Place Marguerite Perey, 91120 Palaiseau</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.imt.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-1086798" status="VALID">
          <idno type="IdRef">03063525X</idno>
          <idno type="ISNI">0000000122039289</idno>
          <idno type="ROR">https://ror.org/03nh7d505</idno>
          <orgName>NANTES UNIVERSITÉ - École Centrale de Nantes</orgName>
          <orgName type="acronym">Nantes Univ - ECN</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <addrLine>1 rue de la Noë - BP 92101 - 44321 Nantes cedex 3</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ec-nantes.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1083366" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-1083366" status="VALID">
          <idno type="IdRef">258086599</idno>
          <idno type="ROR">https://ror.org/03gnr7b55</idno>
          <orgName>Nantes Université</orgName>
          <orgName type="acronym">Nantes Univ</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-1088543" status="VALID">
          <orgName>Nantes université - UFR des Sciences et des Techniques</orgName>
          <orgName type="acronym">Nantes univ -  UFR ST</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <addrLine>2, rue de la Houssinière - BP 92208 - 44322 Nantes cedex 3</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.sciences-techniques.univ-nantes.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1083400" type="direct"/>
            <relation active="#struct-1083366" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-1083400" status="VALID">
          <orgName>Nantes Université - pôle Sciences et technologie</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://nouvelleuniversite.univ-nantes.fr/les-poles</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1083366" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>