中文摘要：

针对6自由度大跨度绳索牵引并联机器人存在绳索悬链线效应的问题，分别建立了绳索的直线模型和绳索的悬链线模型，在此基础上推导了并联机器人的动力学模型，并对二者进行分析和比较。在绳索牵引并联机器人逆动力学的求解过程中，采用带约束的非线性优化方法作为求解工具来计算满足绳索单向力约束的绳索张力。仿真结果表明，考虑绳索的悬链线模型时，并联机器人逆动力学解得到的绳索末端张力与绳索的线性模型相比有很大的变化，故绳索悬链线效应不可忽略，动力学分析中必须加入绳索的悬链线模型。

英文摘要：

For the catenary effect on the large‐scale of 6‐DOF cable‐driven parallel robot ,the straight‐line model and the catenary model of the cables were established ,respectively ,on the basis of which , the dynamic model of the cable‐driven parallel robot was derived and the models were compared at the same time .In order to solve the inverse dynamics of the cable‐driven parallel robot ,a nonlinear optimization method with constraints was chosen to obtain the cable tension that satisfies the force constraints . Simulation experiment demonstrated that when considering the catenary model , the inverse dynamical solution differs noticeably between the straight line model and the catenary model of the parallel robot . Thus the catenary effect cannot be ignored and the catenary model should be considered in the dynamic analysis .