光学精密工程2018，Vol.26Issue(5)：1078-1097,20.DOI:10.3788/OPE.20182605.1078
精密柔索传动技术研究现状及分析
Research on status and analysis of precise cable drive technology
摘要
Abstract
A precise cable drive system is a flexible friction transmission method that utilizes the power transmitted from drive capstans to a driven pulley through a proper preloaded transmission medium .It has many advantages ,such as flexible layout and high precision ,besides being lightweight .It is widely used in many dexterous precise electromechanical devices and servomechanisms .The progress in the applicability of the precise cable drive is summarized in the aspects of precision pointing mechanism , harmonious robot ,haptic interface mechanism , running robot ,dexterous hand and endoscopic surgery .Next ,the urgent issues of the basic theory and application research are dealt with ,including studies on transmission mechanism ,applied studies on servo systems ,and engineering design methods for typical applications .Eventually ,some suggestions regarding further research on theory analysis and engineering design technology of the precise cable drive system have been put forward .关键词
精密柔索传动/应用进展/传动机理/应用技术/工程设计方法Key words
precise cable drive/application progress/transmission mechanism/applied technology/engineering design method分类
机械制造引用本文复制引用
范大鹏,谢馨,祁超,范世珣,张连超..精密柔索传动技术研究现状及分析[J].光学精密工程,2018,26(5):1078-1097,20.基金项目
国家973重点基础研究发展计划资助项目(No.2015CB057503) （No.2015CB057503）
