索驱动机构在航天工程领域的应用综述  

Overview of the application for cable-driven mechanism in aerospace engineering

作　　者：唐晓强[1,2,3] 王禹衡 侯森浩 黄伟[4] 隋毅[4] TANG Xiaoqiang;WANG Yuheng;HOU Senhao;HUANG Wei;SUI Yi(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;State Key Laboratory of Tribology in Advanced Equipment(SKLT),Tsinghua University,Beijing 100084,China;Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control,Tsinghua University,Beijing 100084,China;Beijing Institute of Space Mechanics&Electricity,Beijing 100094,China)

机构地区：[1]清华大学机械工程系,北京100084 [2]清华大学高端装备界面科学与技术全国重点实验室,北京100084 [3]清华大学精密超精密制造装备及控制北京市重点实验室,北京100084 [4]北京空间机电研究所,北京100094

出　　处：《实验技术与管理》2023年第1期1-14,共14页Experimental Technology and Management

基　　金：国家自然科学基金项目(51975307)。

摘　　要：索驱动机构相比于刚性机构有着工作空间大、较高的载荷质量比、易于重新布置等诸多优势,近年来成为机器人学研究的一个热点,其在天文观测、物流搬运、康复医疗和航天工程等诸多领域得到了广泛的应用。该文将集中介绍索驱动机构在航天工程领域的各类应用,从针对航天器的应用和针对宇航员的应用两方面进行详细的介绍。最后,给出了索驱动机构未来在航天工程领域应用的展望。Compared with rigid mechanisms,cable-driven mechanisms have many advantages,such as large workspace,high load mass ratio,and easy relocation.In recent years,cable-driven mechanisms have become a hotspot in robotics research,and have been widely used in astronomical observation,logistics transportation,rehabilitation medicine,aerospace engineering and many other fields.This paper will focus on the various applications of cable-driven mechanism in the field of aerospace engineering,including the application of spacecraft and astronauts.Finally,this paper gives the application prospect of cable-driven mechanism in aerospace engineering.

关 键 词：索驱动机构 索驱动并联机器人 航天工程 重力卸载 航天员训练 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]