# Optimum kinematic design of a planar cable-driven parallel robot with wrench-closure gait trajectory

> Research article (Mechanism and Machine Theory, 2016) · cited 65× · AI/ML

**Wikidata**: [openalex:W2274818750](https://www.wikidata.org/wiki/openalex:W2274818750)  
**Source**: https://4ort.xyz/entity/optimum-kinematic-design-of-a-planar-cable-driven-parallel-robot-with-wrench-closure-gait-trajectory