Research on Cable-driven Robots

摘要

Cable-driven mode has the advantages of low inertia, low noise, high accuracy and some other unique advantages in some occasions.Therefore, the application of cabledriving technology in robots is more and more extensive.Many researchers have also carried out in-depth researches and discussions on the cable-driven robots, and achieved fruitful results.This paper first summarizes the characteristics of the cable-driving technology.Then, describes the types of cable-driven mode.The application of cable-driven mode in camera robots, rehabilitation robots and transportation robots are introduced, and the technique of cable tension, motion modeling and control technology in the cable-driven robots are analyzed and summarized.