欠约束绳牵引并联机器人运动学与控制研究进展  

Kinematics and Control Research Progress of Under-constrained Cable-driven Parallel Robot

作　　者：王晓光 吴军 王家骏 

机构地区：[1]厦门大学航空航天学院飞行器系

出　　处：《自动化博览》2021年第6期40-46,共7页Automation Panorama1

摘　　要：绳牵引并联机器人采用绳索作为驱动,具有惯性小、运动空间较大、动态性能良好等优点,成为一种新的机构。其中,欠约束绳牵引并联机器人绳数量少于自由度数,运动具有不确定性,在康复医疗、飞行器试验等方面具有一定应用潜力。其运动学分析与控制是应用中的核心技术问题,如何高效地求解运动学问题和实现高精度运动控制是研究热点。本文针对欠约束绳牵引并联机器人的发展现状,对其运动学分析与控制方法的进展进行了细致分析和总结。最后,对欠约束绳牵引并联机器人的未来研究方向进行展望。Cable driven parallel robot(CDPR) is a special kind of parallel robot in which traditional rigid links are replaced by actuated cables. This has produced some advantages, such as small inertial force, motion flexibility and so on, which have attracted the attention of researches. The under-constrained CDPR with fewer cables and more degrees of freedom, has the characteristics of motion uncertainties, which provide potential application for gait rehabilitation and aircraft wind tunnel tests. Kinematic analysis and motion control are the core technical problems in its application, and how to solve the kinematic problems efficiently and realize the high-precision motion control is the hot spot of its research. This paper analyzes and summarizes the progress of kinematic analysis and control methods for the development of under-constrained cable-driven parallel robot in detail. Finally, the future research directions of under-constrained cable-driven parallel robot are prospected.

关 键 词：绳牵引并联机器人 欠约束 运动学 控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]