State-of-the-art on theories and applications of cable-driven parallel robots

作     者：Zhaokun ZHANG Zhufeng SHAO Zheng YOU Xiaoqiang TANG Bin ZI Guilin YANG Clément GOSSELIN Stéphane CARO Zhaokun ZHANG;Zhufeng SHAO;Zheng YOU;Xiaoqiang TANG;Bin ZI;Guilin YANG;Clément GOSSELIN;Stéphane CARO

作者机构：State Key Laboratory of TribologyDepartment of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and ControlTsinghua UniversityBeijing 100084China Department of Mechanical EngineeringUniversity of MichiganAnn ArborMI 48109USA Department of Precision InstrumentTsinghua UniversityBeijing 100084China School of Mechanical EngineeringHefei University of TechnologyHefei 230009China Ningbo Institute of Industrial TechnologyChinese Academy of Sciences(CAS)Ningbo 315201China Department of Mechanical EngineeringUniversitéLavalQuebec QC G1V 0A6Canada Laboratory of Digital Sciences of NantesNational Centre for Scientific ResearchNantes 44321France 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2022年第17卷第3期

页      面：35-57页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：This work was supported in part by the National Natural Science Foundation of China(Grant Nos.52105025 and U19A20101) 

主　　题：cable-driven parallel robot kinematics optimization dynamics control 

摘      要：Cable-driven parallel robot(CDPR)is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism *** inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace,cost and energy efficiency *** a result,CDPRs have had irreplaceable roles in industrial and technological fields,such as astronomy,aerospace,logistics,simulators,and *** follow the cutting-edge trend of rigid-flexible fusion,reflect advanced lightweight design concepts,and have become a frontier topic in robotics *** paper summarizes the kernel theories and developments of CDPRs,covering configuration design,cable-force distribution,workspace and stiffness,performance evaluation,optimization,and motion *** modeling,workspace analysis,and cable-force solution are *** and dynamic modeling methods are *** further promote the development,researchers should strengthen the investigation in configuration innovation,rapid calculation of workspace,performance evaluation,stiffness control,and rigid-flexible coupling *** addition,engineering problems such as cable materials,reliability design,and a unified control framework require attention.