绳驱机器人动力学建模与控制研究综述

doi:10.3901/JME.2025.19.001

机械工程学报 ›› 2025, Vol. 61 ›› Issue (19): 1-17.doi: 10.3901/JME.2025.19.001

• 机器人及机构学 • 上一篇

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绳驱机器人动力学建模与控制研究综述

陈彦霖^1,2, 邓小恒^1,2, 张宪民^1,2, 黄沿江^1,2

1. 华南理工大学广东省精密装备与制造技术重点实验室广州 510641;
2. 华南理工大学机械与汽车工程学院广州 510641

收稿日期:2024-10-28 修回日期:2025-04-27 发布日期:2025-11-24
作者简介:陈彦霖，男，1994年出生，博士研究生。主要研究方向为人机协作、机器人动力学、误差分析、机器人控制系统。E-mail：201720100340@mail.scut.edu.cn
邓小恒，男，1997年出生，博士研究生。主要研究方向为绳驱机器人、动力学建模、自适应柔顺控制。E-mail：202311080848@mail.scut.edu.cn
张宪民，男，1964 年出生，博士，教授，博士研究生导师。主要研究方向为精密定位与精密操作、精密电子装备与现代控制技术、精密并联机器人系统、机电系统的振动与噪声控制等。E-mail：zhangxm@scut.edu.cn
黄沿江(通信作者)，男，1981年出生，博士，教授，博士研究生导师。主要研究方向为人机共融机器人的设计、动力学建模、柔顺控制、机器人灵巧操作。E-mail：mehuangyj@scut.edu.cn
基金资助:
国家自然科学基金(52475016, 52130508, 52075178)和广州市基础研究计划(2024A04J6287)资助项目。

Overview of Dynamic Modeling and Control for Cable-driven Robots

CHEN Yanlin^1,2, DENG Xiaoheng^1,2, ZHANG Xianmin^1,2, HUANG Yanjiang^1,2

1. Guangdong Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou 510641;
2. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641

Received:2024-10-28 Revised:2025-04-27 Published:2025-11-24

摘要/Abstract

摘要： 绳驱机器人因其惯量小、质量轻及作业范围广等优势受到了研究人员的广泛关注。然而，绳索固有的柔性和单向传力特性给绳驱机器人的精确控制带来了挑战。为实现其高效、精准的运动控制，需要从绳索张力分布、机器人动力学以及机器人控制等多方面展开深入研究。综述了绳驱机器人领域的研究进展，首先，探讨了零空间法、几何法和最小二乘法等绳驱动机器人张力计算及优化方法，并比较了这些方法的优缺点及适用范围；其次，总结了拉格朗日法、牛顿欧拉法和虚功原理等在绳驱机器人动力学建模上的研究进展，并比较了不同方法在绳驱连续型机械臂动力学建模上的优缺点；再次，总结了绳驱机器人控制的研究进展，并比较了基于模型与无模型的绳驱机器人控制策略；最后，对绳驱机器人的研究现状进行了总结，并对其未来发展趋势提出了展望。

关键词: 绳驱机器人, 张力分析, 动力学建模, 控制策略

Abstract: Cable-driven robots have attracted significant attention from researchers due to their advantages of low inertia, light weight, and extensive operational range. However, the inherent flexibility of cables and their unidirectional force transmission characteristics pose challenges for precise control. Achieving efficient and accurate motion control requires in-depth research on cable tension distribution, robot dynamics, and control strategies. This research reviews the research progress in the field of cable-driven robots. Firstly, it focuses on tension computation and optimization methods, including null-space method, geometric method, and least-squares method, comparing their advantages, disadvantages, and applicable scenarios. Secondly, it summarizes advancements in dynamic modeling approaches, such as the Lagrange method, Newton-Euler method, and the principle of virtual work, evaluating their strengths and weaknesses in modeling the dynamics of cable-driven continuum robots. Thirdly, it reviews the progress in control strategies for cable-driven robots, comparing model-based and model-free control approaches. Finally, the current state of research is summarized, and future development trends in cable-driven robots are discussed.

Key words: cable-driven robots, tension analysis, dynamic modeling, control strategies

中图分类号:

TP242

陈彦霖, 邓小恒, 张宪民, 黄沿江. 绳驱机器人动力学建模与控制研究综述[J]. 机械工程学报, 2025, 61(19): 1-17.

CHEN Yanlin, DENG Xiaoheng, ZHANG Xianmin, HUANG Yanjiang. Overview of Dynamic Modeling and Control for Cable-driven Robots[J]. Journal of Mechanical Engineering, 2025, 61(19): 1-17.

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绳驱机器人动力学建模与控制研究综述

Overview of Dynamic Modeling and Control for Cable-driven Robots

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