精密柔索传动技术研究现状及分析

精密柔索传动是一种通过主、从动轮之间有适当预紧的传动介质来实现的挠性摩擦传动方式,具有布局灵活、高精度、轻量化等特点,在多种灵巧性精密机电装置和伺服机构中得到了广泛的应用。本文归纳了柔索传动技术在精密指向机构、人机交互机器人、跑步机器人、灵巧手和微创手术末端器械等方面的应用进展;总结了亟待解决的基础理论和应用研究相关问题,主要包括传动机理研究、伺服系统的应用研究、针对典型应用需求的工程设计方法研究等;最后,对进一步发展精密柔索传动理论分析与工程设计技术提出了建议。

Research on status and analysis of precise cable drive technology

A precise cable drive system is a flexible friction transmission method that utilizes the power transmitted from drive capstans to a driven pulley through a proper preloaded transmission medium. It has many advantages, such as flexible layout and high precision, besides being lightweight. It is widely used in many dexterous precise electromechanical devices and servomechanisms. The progress in the applicability of the precise cable drive is summarized in the aspects of precision pointing mechanism, harmonious robot, haptic interface mechanism, running robot, dexterous hand and endoscopic surgery. Next, the urgent issues of the basic theory and application research are dealt with, including studies on transmission mechanism, applied studies on servo systems, and engineering design methods for typical applications. Eventually, some suggestions regarding further research on theory analysis and engineering design technology of the precise cable drive system have been put forward.