钢丝绳传动5自由度机器人机构设计

提出一种用于物流系统的5自由度移动机器人系统，并对系统组成与功能进行了详细讨论。该系统机械臂由一种简洁高效的新型钢丝绳传动机构构成——行星8字形缠绕方式，整个结构紧凑高效，在减轻质量的同时提高对外做功的能力，并且解决了环形缠绕会产生的运动耦合联动问题，同时增加了关节的运动范围。还介绍了该系统的其他一些具体结构，如手部的丝杠螺母结构、钢丝张紧结构等。该新型钢丝绳传动结构在机器人研究方面具有一定的参考价值。

Structure Design of 5 DOF Cable-driven Manipulator

A 5 DOF movable robot system for logistics systems was proposed and discussed about its composition and function in detail. The system was consisted of an easy and efficient new type cable-driven structure, which was compact and efficient, could increase its ability to do work which decreasing its weight, solve moving coupling problem of ring winding and expand moving extension of joints. In addition, other structures about the robot are invented, such as screw nut structure of hand, cable tensioning structure and so on. The new pattern of cable-driven mechanism possessed considerable application value in the field of robot and manipulator.