【摘要】 柔索驱动并联机器人采用柔索代替连杆作为机器人的驱动元件 ,它结合了并联结构和柔索驱动的优点 .文章提出了一种新型带有约束机构的并联柔索驱动机器人 ,采用四根柔索驱动 .由于约束机构的引入 ,机器人可实现在空间的三维转动 .介绍柔索驱动并联机器人的机构构型 ,给出了位姿逆解 ,建立了静力平衡方程和运动学方程 ,讨论了柔索拉力的确定方法 .研究结果证明在加入了约束机构后 ,柔索机器人可以实现更多的运动形式 ,这就为更广泛的应用柔索驱动成为可能更多还原

【Abstract】 Wire driven parallel robot, in which wire is used to replace the link of parallel robot, is developed from parallel robot and serial wire driven robot. Compared with the parallel robot, this kind of robot has more advantages. In this paper, a new type of wire driven parallel robot with restraint mechanism is proposed. Driven by four wires, the moving platform can spatially rotate. The configuration, kinematics and statics are described. Moreover, a method on ascertaining the wire’s tension is discussed. The study results prove that wire driven robot with restraint mechanism can realize more moving modes. Hence, the broad application of wire driven mechanism is made possible.更多还原