典型文献
State-of-the-art on theories and applications of cable-driven parallel robots
文献摘要：
Cable-driven parallel robot(CDPR)is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory.It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace,cost and energy efficiency simultaneously.As a result,CDPRs have had irreplaceable roles in industrial and technological fields,such as astronomy,aerospace,logistics,simulators,and rehabilitation.CDPRs follow the cutting-edge trend of rigid-flexible fusion,reflect advanced lightweight design concepts,and have become a frontier topic in robotics research.This paper summarizes the kernel theories and developments of CDPRs,covering configuration design,cable-force distribution,workspace and stiffness,performance evaluation,optimization,and motion control.Kinematic modeling,workspace analysis,and cable-force solution are illustrated.Stiffness and dynamic modeling methods are discussed.To further promote the development,researchers should strengthen the investigation in configuration innovation,rapid calculation of workspace,performance evaluation,stiffness control,and rigid-flexible coupling dynamics.In addition,engineering problems such as cable materials,reliability design,and a unified control framework require attention.
文献关键词：
中图分类号：
作者姓名：
Zhaokun ZHANG;Zhufeng SHAO;Zheng YOU;Xiaoqiang TANG;Bin ZI;Guilin YANG;Clément GOSSELIN;Stéphane CARO
作者机构：
State Key Laboratory of Tribology,Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control,Tsinghua University,Beijing 100084,China;Department of Mechanical Engineering,University of Michigan,Ann Arbor,MI 48109,USA;Department of Precision Instrument,Tsinghua University,Beijing 100084,China;School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China;Ningbo Institute of Industrial Technology,Chinese Academy of Sciences(CAS),Ningbo 315201,China;Department of Mechanical Engineering,Université Laval,Quebec QC G1V 0A6,Canada;Laboratory of Digital Sciences of Nantes,National Centre for Scientific Research,Nantes 44321,France
文献出处：
引用格式：
[1]Zhaokun ZHANG;Zhufeng SHAO;Zheng YOU;Xiaoqiang TANG;Bin ZI;Guilin YANG;Clément GOSSELIN;Stéphane CARO-.State-of-the-art on theories and applications of cable-driven parallel robots)[J].机械工程前沿,2022(03):34-56
A类：
CDPR,CDPRs,simulators
B类：
State,art,theories,applications,cable,driven,parallel,robots,Cable,type,high,performance,that,integrates,kinematic,chains,mechanism,theory,It,inherits,dynamics,heavy,load,capacities,significantly,improves,workspace,cost,energy,efficiency,simultaneously,result,have,had,irreplaceable,roles,industrial,technological,fields,such,astronomy,aerospace,logistics,rehabilitation,follow,cutting,edge,trend,rigid,flexible,fusion,reflect,advanced,lightweight,design,concepts,become,frontier,topic,robotics,This,paper,summarizes,kernel,developments,covering,configuration,force,distribution,stiffness,evaluation,optimization,motion,control,Kinematic,modeling,analysis,solution,are,illustrated,Stiffness,methods,discussed,To,further,promote,researchers,should,strengthen,investigation,innovation,rapid,calculation,coupling,In,addition,engineering,problems,materials,reliability,unified,framework,require,attention
AB值：
0.619698
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