中文摘要：

针对6自由度绳索驱动并联机器人力封闭工作空间的现有求解方法计算效率较低这一问题,提出一种力封闭工作空间的快速求解方法。此方法通过计算结构矩阵零空间和解线性矩阵不等式来实现力封闭工作空间的求解,并且给出欠约束、完全约束和冗余约束三种不同情况下,6自由度绳索驱动并联机器人力封闭工作空间的计算过程。该算法在8根绳索驱动的6自由度并联机器人平台上进行仿真试验,仿真结果验证了所提出的力封闭工作空间求解方法的快速性。

英文摘要：

An efficient computation method of the force-closure workspace is proposed to improve the solution efficiency of the existing methods for determining the force-closure workspace of 6-DOF cable-driven manipulators. The proposed method is realized by calculating the null space of the structure matrix and solving the linear matrix inequalities. The detailed calculation procedures of the force-closure workspace for the incompletely restrained, completely restrained and redundantly restrained 6-DOF cable-driven parallel manipulators are given respectively. The proposed method is implemented on the 6-DOF cable-driven parallel manipulator with eight cables, and the rapidity of the method is validated through simulation results.