关键词: 钢丝绳传动, 运动学, 支路矩阵, 等效半径矩阵, 支路分析方法

Abstract: Kinematics of a kind of [N] degrees of freedom robot driven by [N+1] steel cables is researched and analyzed in this paper. The kinematic analysis can be accomplished by two steps which is derivation of a kinematic relationship between joint space and Cartesian space of open-loop chain robot, and a kinematic relationship between joint space and motor-driven space. Branch analysis method using branch matrix and equivalent radius matrix representation for kinematics of steel cable-driven robot is put forward on the basis of kinematic analysis with fundamental circuit, coaxiality condition and transmission lines. Branch matrix and effect radius matrix in motor-driven space can be written and the mapping relationship can be got by observation method according to the schematic of steel cable transmission, which realizes the motion decoupling existing joints of steel cable-driven robot. The full kinematic mapping relationships among motor actuator space, joint space, and Cartesian space are accomplished, which speeds up and simplifies the kinematic modeling and analysis process of steel cable-driven robot. Finally, the kinematic analysis of the Stanford/JPL finger validates that branch analysis method using branch matrix and equivalent radius matrix representation for kinematics of steel cable-driven robot. The analysis method lays the foundation for design, kinematic analysis and motion control of cable-driven mechanism.

Key words: steel cable-driven, kinematics, branch matrix, equivalent radius matrix, branch analysis method