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中文摘要：
研究欠约束、完全约束及冗余约束绳牵引并联机器人的工作空间，提出适用于三类约束的绳牵引并联机器人工作空间的一致求解策略。由作用力单向性的共同特点，将力封闭手指抓取机器人的凸条件引入至一般绳牵引并联机器人，得到其可控工作空间的存在定理。基于存在定理、凸集理论、线性代数理论和投影定理，以推论的形式给出三类约束绳牵引并联机器人工作空间存在的普遍条件，并进行充分必要性证明。给出工作空间存在的普遍条件为，机器人结构矩阵满秩，且结构矩阵的列矢量与广义外力矢量在空间超平面法向矢量方向上的投影满足方向与大小平衡。根据定理和推论，提出一种适用于三类约束绳牵引并联机器人工作空间的一致求解策略，并应用一致求解策略对三个典型机器人的工作空间进行求解和对比分析。
英文摘要：
The workspaces of incompletely restrained, completely restrained and redundant restrained wire-driven parallel robots are investigated, and a uniform solution strategy for workspaces of the three types of wire-driven parallel robots is put forward. Considering the sameness of unilateralism of acting forces, the convex condition of force-closure grasping for multi-fingered hands is utilized to derive the existence theorem of controllable workspaces of general wire-driven parallel robots. Based on existence theorem, convex set theory, linear algebra theory and projection theorem, general existence conditions of workspaces for the three types of wire-driven parallel robots are presented in the forms of corollaries individually, and the necessity and sufficiency of the existence conditions are proved. The existence conditions indicate that the rank of structure matrices of wire-driven parallel robots should be full, and the projections of column vectors of the structure matrices and those of vectors of the generalized external forces on the normal of the same hyperplane should be equivalent in both size and direction. According to the theorem and corollaries, a uniform solution strategy for the workspaces of the three types of wire-driven parallel robots is proposed. The workspaces of three typical wire-driven parallel robots are obtained and compared by using the proposed strategy.
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