模块化多关节绳驱动并联机器人设计
Design of Modular Multi Joint Rope Driven Parallel Robot

绳驱动并联机器人具有惯性低、容易调整、质量轻、出现损耗容易更换等优点，应用前景广泛。但是绳子的柔性特点造成其运动时所需的控制电机数量要大于其运动自由度的数量且执行机构刚度不够，这样造成控制困难，控制精度低、环境适应性差等问题。为了解决这些问题，需要降低电机数量和提升机器人的刚度，本文基于标准万向节铰链，通过刚柔结合原理，实现了并联机器人的少电机、模块化、多关节绳驱动，并通过求解其运动学和轨迹规划，使其末端能够实现圆形轨迹。
Rope driven parallel robots have the advantages of low inertia, easy adjustment, light weight, and easy replacement in case of wear and tear, and have a wide range of application prospects. However, the flexible nature of the rope results in a greater number of control motors required for its movement than its degrees of freedom, and insufficient stiffness of the actuator, which leads to control difficulties, low control accuracy, and poor environmental adaptability. In order to solve these problems, it is necessary to reduce the number of motors and improve the stiffness of the robot. Based on the standard universal joint hinge and the principle of rigid flexible combination, this paper realizes the small motor, modular, and multi joint rope drive of the parallel robot. By solving its kinematics and trajectory planning, the end can achieve a circular trajectory.