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中文摘要：
为克服以往因干涉分类不清晰、推导不完备而造成的在绳牵引并联机器人干涉计算中所存在的误判和漏判问题,推导包括各类干涉情况的完备判定条件并提出干涉求解策略。在明确干涉分类的基础上,根据绳与绳以及绳与末端执行器边缘之间公垂线垂足位置关系的各种情况,推导绳与绳干涉以及绳与末端执行器边缘干涉的数学判定条件;证明绳与末端执行器面干涉的充分必要条件。在此基础上,提出一种适用于绳牵引并联机器人的干涉求解策略。通过对一个典型的绳牵引并联机器人的干涉问题进行求解与对比分析,表明所导出的完备干涉判定条件可较传统方法更合理地确定干涉区域,从而为更准确地实施绳牵引并联机器人的控制奠定了理论基础。
英文摘要：
To overcome the misjudgment and omission of determining the interference for wire-driven parallel robots（WDPRs） due to unclear interference classification and incomplete derivation,the interference conditions containing various types of interferences are deduced and an interference solution strategy is put forward.Based on the clear interference classification,the interference conditions are derived according to all kinds of position relations to the intersection of common perpendicular between two wires or between a wire and an edge of the end-effector,the sufficient and necessary interference condition for a wire interference with a plane of end-effector is proved,from which an interference solution strategy for the WDPRs is proposed.The interference problem of a typical WDPR is solved and compared by using the proposed strategy,the simulation results show that this method can determine the interference region more reasonably than conventional methods,thus providing the theoretical foundation for controlling the WDPR more accurately.
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