摘要
总结了近 2 0年来关于绳牵引并联机构的研究概况和研究内容 ;论述了绳牵引并联机构的构型、工作空间、刚度和冗余性等方面的研究 ;分析了绳牵引并联机构的应用前景与发展趋势 ,指出了绳牵引并联机构在建筑机器人、虚拟现实的力反馈装置和触觉装置、大型运动仿真器、大型射电望远镜、超高速机器人、超大工作空间的轻型机器人和风洞试验等领域的应用前景 ,展望了绳牵引并联机构的预期研究内容。
Wire-driven parallel kinematic manipulators (PKMs) have been given more and more attention in the last two decades,due to their advantages comparing with strut supported PKMs,such as simple structure, low apparent mass/inertia,large workspace and high speed. Research on wire-driven PKMs throughout the whole world was surveyed in this paper. Thereafter the authors research about mechanism configuration,workspace,stiffness and actuation redundancy of six DOF wire-driven PKMs in the past two years was presented. Then the promising application and development tendency of wire-driven PKMs has been analyzed. It was pointed out that it is potential to introduce wire-driven PKMs to the following applications,such as crane robots, force-reflecting devices and haptic devices in virtual reality, large-scale motion simulators,giant steerable radio telescopes, super-high speed robots,light parallel robots with large-scale workspace,and scale models for wind tunnels. Moreover,the future research on issues such as workspace analysis,dynamics and motion control scheme were discussed in detail. Finally,the authors research planning on
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2003年第9期808-810,共3页
China Mechanical Engineering
