Review of Cable-driven Redundant Manipulator

李伟杰; 王振宇; 李岩

doi:10.13433/j.cnki.1003-8728.20230387

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Review of Cable-driven Redundant Manipulator

更新时间：2026-04-23

- Review of Cable-driven Redundant Manipulator
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 12, Pages: 2116-2135(2025)
- 作者机构：
  
  1. 中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳,110016
  2. 中国科学院机构机器人与智能制造创新研究院,沈阳,110169
  3. 中国科学院大学机构,北京,100049
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230387
  CLC：
- Published：2025
- 稿件说明：
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李伟杰, 王振宇, 李岩. Review of Cable-driven Redundant Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(12): 2116-2135.
DOI：

李伟杰, 王振宇, 李岩. Review of Cable-driven Redundant Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(12): 2116-2135. DOI： 10.13433/j.cnki.1003-8728.20230387.

摘要

对绳索驱动的冗余自由度机械臂进行了综述。首先根据结构对应用在不同领域的绳驱冗余机械臂分为离散式刚性全驱动结构、连续式柔性分段驱动结构和刚柔耦合分段驱动结构3类，并进行了介绍。综述了绳驱冗余机械臂的运动控制技术和智能感知技术。最后就现有的绳驱冗余机械臂所面临的问题和存在的局限性，提出了未来的发展方向。

Abstract

The research of cable-driven redundant manipulator is summarized. Firstly

according to the structure features

the cable-driven redundant manipulator applied in different fields is divided into three types: discrete rigid fully-actuated structure

continuous flexible segmented-driven structure

and rigid flexible coupling segmented-driven structure. Then the motion control technology and intelligent perception technology of cable-driven redundant manipulator are reviewed. Finally

the problems and its limitations of the existing cable-driven redundant manipulator are summarized

and the future development direction is proposed and discussed.

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