机械科学与技术2025，Vol.44Issue(12)：2116-2135,20.DOI:10.13433/j.cnki.1003-8728.20230387
绳驱冗余机械臂研究综述
Review of Cable-driven Redundant Manipulator
LI Weijie 1WANG Zhenyu 2LI Yan2
作者信息
- 1. State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China||Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China||University of Chinese Academy of Sciences,Beijing 100049,China
- 2. State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China||Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China
- 折叠
摘要
Abstract
The research of cable-driven redundant manipulator is summarized.Firstly,according to the structure features,the cable-driven redundant manipulator applied in different fields is divided into three types:discrete rigid fully-actuated structure,continuous flexible segmented-driven structure,and rigid flexible coupling segmented-driven structure.Then the motion control technology and intelligent perception technology of cable-driven redundant manipulator are reviewed.Finally,the problems and its limitations of the existing cable-driven redundant manipulator are summarized,and the future development direction is proposed and discussed.关键词
柔性驱动/绳索驱动/冗余机械臂/运动控制Key words
flexible-driven/cable-driven/redundant manipulator/motion control分类
信息技术与安全科学引用本文复制引用
LI Weijie,WANG Zhenyu,LI Yan..绳驱冗余机械臂研究综述[J].机械科学与技术,2025,44(12):2116-2135,20.
