绳牵引并联机构的技术研究现状与应用进展  

Technical research status and application progress of cable-driven parallel mechanism

作　　者：韦慧玲 罗陆锋 卢清华[1] 陈为林 王金海 WEI Huiling;LUO Lufeng;LU Qinghua;CHEN Weilin;WANG Jinhai(School of Mechatronics Engineering and Automation,Foshan University,Foshan 528225,China;School of Electronic Information Engineering,Foshan University,Foshan 528225,China)

机构地区：[1]佛山科学技术学院,机电工程与自动化学院,佛山528225 [2]佛山科学技术学院,电子信息工程学院,佛山528225

出　　处：《科技导报》2023年第6期89-107,共19页Science & Technology Review

基　　金：国家自然科学基金青年项目(52205254);国家自然科学基金项目(32171909);广东省基础与应用基础研究基金项目(2020A1515111056,2020B1515120050,2020B1515120070);广东省普通高校科研项目(2019KTSCX197,2018KZDXM074,2020KCXTD015);佛山科学技术学院高层次人才科研启动项目(099/CGG07219)。

摘　　要：绳牵引并联机构是一类以柔性绳索代替刚性连杆为驱动元件的并联机器人,具有运动速度快、承载能力大、运动链惯性小、工作空间大及环境适应性好等优点,为工程问题的解决提供了新的思路和手段,近年来一直是国际并联机构领域的研究热点。介绍了绳牵引并联机构的特点,从物料搬运、天文观测、风洞试验、高速摄像、运动模拟、肢体康复、外科手术、三维打印等领域总结了绳牵引并联机构的技术研究现状和工程应用进展,探讨了绳牵引并联机构的发展趋势。The cable-driven parallel mechanism is a type of parallel robot that uses flexible cables instead of rigid links as the driving element.It has the advantages of fast movement speed,large carrying capacity,small chain inertia,large workspace and good environmental adaptability.It provides new ideas and means for solving engineering problems.Therefore,it has gradually become a research hotspot in the field of international parallel mechanisms in recent years.This article introduces the characteristics of the cable-driven parallel mechanism,and summarizes the technical research status and engineering application progress of the cable-driven parallel mechanism from the fields of material handling,astronomical observation,wind tunnel test,high-speed camera,motion simulation,limb rehabilitation,surgery,three-dimensional printing,etc.Then the development trends of cable-driven parallel mechanism are discussed.

关 键 词：绳牵引并联机构 工程应用 研究现状 发展趋势 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]