绳驱动并联机器人绳张紧性及支架力分析

An Analysis on Tension and Bracket Force of Rope-driven Parallel Manipulator

本文以三自由度并联机器人为例,提出了此类机器人中绳必须要满足的条件,对绳的张紧性及支架力进行了分析,为此类机器人的研究提供了理论基础.

This paper took parallel manipulator of 3- DOF as an example,putting forward the basic conditions that the rope needs to meet for this type of robot,and then it analyzed the tension and bracket force of the rope so as to provide the theoretical basis for this type of manipulator.