将线驱动并联机器人扩展至带体间线的多浮动连杆系统
Extending Wire-Driven Parallel Robots to Multi-Floating-Link Systems with an Inter-Body Wire
AI总结：
本研究通过引入体间线，将并联线驱动系统从单末端执行器扩展至多浮动连杆系统，经实验验证可完成救援类任务，具备更广泛应用潜力。
摘要：
并联线驱动系统是一种将多根线连接至末端执行器、通过线的张力驱动末端执行器的框架。由于其可在数十米量级的长度上传递接近线的断裂强度的大力，能在大工作空间中实现强劲驱动。近年来，已有研究探索将线连接至树木、立柱等外部环境，现场构建并联线驱动装置。然而，传统并联线驱动系统通常假设仅存在单个末端执行器，且因共享工作空间内的线与连杆间存在干涉，难以同时处理多个浮动连杆。本研究通过引入体间线，实现了多浮动连杆并联线驱动。在真实机器人实验中，两个连杆支撑并抬起一个人体模型，将其转移至担架上，完成救援动作。这表明并联线驱动可从单末端执行器扩展至多浮动连杆系统，显示其在大型物体操作、救援支持等更广泛任务中的应用潜力。
英文摘要：
Parallel wire-driven systems are a framework in which multiple wires are connected to an end effector, and the end effector is driven by the tensions of those wires. Because they can transmit large forces, up to the breaking strength of the wires, over lengths on the order of several tens of meters, they can realize powerful actuation in large workspaces. In recent years, studies have also investigated connecting wires to external environments such as trees and columns and forming parallel wire actuation on site. However, conventional parallel wire-driven systems often assume a single end effector, and because of interference between wires and links in a shared workspace, it has been difficult to handle multiple floating links simultaneously. In this study, we realize multi-floating-link parallel wire actuation by introducing an inter-body wire. In real-robot experiments, the two bodies supported and lifted a mannequin and transferred it onto a stretcher as a rescue motion. This shows that parallel wire actuation can be extended from a single end effector to a multi-floating-link system, and indicates its potential for broader tasks such as the manipulation of large objects and rescue support.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
