柔索驱动混联机器人的结构设计与研究

文章针对传统串联机器人转动惯量大、刚度小等问题提出并设计了一款柔索驱动混联机器人。利用共轴球面并联机构通过走线设计将驱动单元安装在基座实现柔索驱动，模块化设计实现串、并联机器人的构型；然后根据机械结构和运动特性，利用SD-H法和矢量法对混联机器人进行运动学建模并分析验证；仿真实验采用B样条曲线进行轨迹规划，研究机器人关节柔顺性。实验结果表明，柔索驱动混联机器人具有较小的转动惯量、较好的柔顺性和较大的刚度。

In this paper, a flexible cable-driven hybrid robot is proposed and designed to solve the problems of large moment of inertia and small stiffness of traditional series robots. Firstly, the coaxial spherical parallel mechanism is designed by installing the driving unit on the base to realize the flexible cable drive, and the configuration of the series-parallel robot is realized by modular design. Then, according to the mechanical structure and motion characteristics, the kinematic modeling of the hybrid robot is carried out by using SD-H method and vector method. Finally, B-spline curve is used for trajectory planning to study the flexibility of robot joints. Experiments show that the flexible cable-driven hybrid robot has smaller moment of inertia, better flexibility and larger stiffness.