中文摘要：

为克服布线时柔性线缆因复杂空间形态而导致的难以精确地描述其运动状态、力学性能等问题，基于弹性细杆思想，建立大变形柔性线缆动力学模型，分析大变形线缆力学特性。建立线缆考虑空间约束、自重及拖拽与摩擦作用的动力学模型：推导大变形线缆的本构关系与运动参数表达式，并进一步构建典型运动情形下大变形柔性线缆的动力学模型；通过对线缆力学特性进行仿真分析与试验测试，得到了弯曲与拖拽运动下线缆的几何姿态、运动规律及受力情况。结果表明，弯曲线缆的曲率极值点为关键点，决定线缆整体运动形态与受力的趋势；线缆的拖拽运动类似于行波传动；同时试验实现了通过线缆力学模型逆推出其空间形态，验证了所建模型的正确性，为线缆路径规划提供了理论依据。

英文摘要：

Due to the complicated spatial attitudes, motion states and mechanical properties of flexible cables can not be described precisely. In order to overcome these problems, dynamics model of flexible cables with large deformation is established based on thin elastic rod. Furthermore, mechanical properties of the large deformation cable are analyzed. Dynamics model of the cable is deduced considering spatial constraints, deadweight, drag and friction. Meanwhile, constitutive relationship and motion parameters of large deformation cable are derived. Furthermore, dynamics models of large deformation cable in the typical motion situations are established. By means of simulation and experiment of the cable＇s mechanical properties, geometrical attitudes, motion states and force conditions of the cable with the bending and dragging motions are obtained. The results show that extreme points of cable curvature are the key points, and trends of motion state and force condition of the whole cable are determined by those points. Moreover, the dragging motion of the cable is similar to the travelling wave transmission. Finally, spatial attitude of the cable is obtained from its mechanical model through the experiment. Therefore, correctness of the model is verified and conclusions have guiding significance to the routing planning.