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中文摘要：
首先，以绳牵引摄像机器入的索拉力求解和运动学分析为基础，提出了以拉力最小绳索的索拉力以及该绳索与水平面夹角的正切值为因素的力位混合稳定性评价指标，用于评价摄像平台运动的稳定性，并定义了满足一定稳定条件的稳定工作空间；其次，进一步将摄像机器人受到扰动后的工作空间与稳定工作空间进行比较；最后，仿真算例验证了采用力位混合稳定性求解指标的合理性．
英文摘要：
Firstly, in order to assess the stability of the camera robots, a stability performance index with combination of force and position is proposed based on the determinations of the cable tensions for a camera robot. Furthermore, the stability performance index is described using the weighted average method, and meanwhile,the stability workspace is designed with the stability performance index. Secondly, a robust workspace with the external wrench is selected to compare with the stable workspace above for the camera robots. Finally, simulation results show that it is suitable to employ the stable performance to evaluate the stability of the camera robots.
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