中文摘要：

阐述了一种线驱动与常规串联驱动相结合的混合设计方法。这种设计方法融合了线驱动并联机构和模块化串联机构的优点，而且混合驱动机器人的工作空间大于完全线驱动机器人的工作空间。文章首先介绍了混合驱动机器人的机构设计，也就是机器人的肩关节采用模块化串联结构，而肘、腕关节采用线驱动结构。然后利用几何分析的方法来解机器人前向运动学问题。在分析驱动线长与关节角之间变换关系的基础上，分别利用速度法和关节角增量法来计算机器人逆向运动学解。最后，使用VC＋＋实现混合驱动机器人对直线运动轨迹进行跟踪的仿真，从而证明了文章所描述的设计方法的正确性。

英文摘要：

This paper presents a hybrid-driven approach with cable-driven and convention-driven designs for a 7-DOF manipulator. This approach combines the advantages of both cable-driven parallel mechanism and modular serial structure, so that the workspaee of the hybrid-driven manipulator is larger than that of the conventional cable-driven design. The hybrid mechanism design of the manipulator is presented firstly, which has a modular serial structure in shoulder joint and a cable-driven structure in elbow and wrist joint respectively. Then the forward kinematics of the manipulator is solved with geometry analysis. After relationship between the cable length and the joint angle is analyzed, the velocity analysis and incremental displacement analysis are respectively employed to calculate the inverse kinematic solution. Finally, a straight-line motion trajectory tracking for the hybrid cable-driven manipulator is reailized with VC ＋ ＋ software, and the effectiveness of proposed approach is verified with simulation.