【摘要】 大空间复杂环境下的自动化、智能化作业在高端制造、航空航天、大型工程等国家重点领域至关重要，是国家制造业创新技术水平的体现。大空间刚柔耦合机器人主要面向大范围空间下的复杂作业需求，兼具刚性和柔性传动特性，有着大空间广域范围下的高运动灵活度与系统自适应性，其发展则依赖于机构学、材料学、力学与智能控制等多学科的交叉融合。针对大空间刚柔耦合机器人的核心理论与关键技术，对大空间刚柔耦合机器人的驱动形式与机构设计、系统建模与性能分析、运动规划与高效控制等方面的研究成果进行了综述，归纳了大空间刚柔耦合机器人的典型工程应用，并对其基础理论与关键技术的未来发展趋势进行了总结与展望。更多还原

【Abstract】 In large-scale and complex environments, automation and intelligent operations are of paramount importance in high-end manufacturing, aerospace, and major national projects. And they represent the level of innovative technology in the national manufacturing industry. Large-scale rigid-flexible coupling robots are primarily designed for complex operations in a large-scale environment, combining both rigid and flexible driven characteristics. These robots exhibit high levels of motion flexibility and mechanism adaptability in extensive, large-scale environments. Their emergence and development rely on the interdisciplinary fusion of mechanics, new materials, dynamics, and intelligent control. Focusing on the core theories and key technologies of large-scale rigid-flexible coupling robots, an overview of current research achievements in areas including the driving mechanisms and mechanism design, system modeling and performance analysis, as well as control and motion planning for large-scale rigid-flexible coupling robots are presented. Additionally, the typical applications of these robots in engineering are summarized, and the fundamental theory and key technologies for the future development trends of large-scale rigid-flexible coupling robots are reviewed and forecasted.更多还原