冗余与非冗余驱动柔索并联机构的运动动力学比较研究

he cable-driven parallel mechanism is a new sort of parallel mechanism. Encounter to the models of the non-redundant and redundant 3-DOF cable-driven parallel mechanism, firstly, the kinematics and dynamics equations were established separately. And then, several restricted conditions were put forward to do the workspace drawing of the two mechanisms, thus the motion area of the load was restricted. Results showed that the redundant parallel mechanism had a larger workspace. Finally, simulation of the load moving along a spatial helical shaped trajectory was demonstrated, which indicated that the two 3-DOF cable-driven parallel mechanisms were both able to actualize a smooth motion, but the redundant one had a better dynamic property.