DOI：10.3969/j.issn.1672-3872.2025.15.008
基金项目：江西省教育厅科学技术研究项目（GJJ218807、GJJ2201618）；江西省大学生创新创业训练计划项目（S202510419007）；井冈山大学校级创新创业训练计划项目（JDX2024052）
作 者：肖石华 ，王 鸿 ，刘朝晖 ，张友为 ，曹泽阳（井冈山大学机电工程学院，江西 吉安 343000）
摘 要：【目的】解决现有绳驱动机械臂精度不足、负载能力有限的问题。【方法】设计了一款包含回转底座、大臂、小臂及手爪的四自由度绳驱动机械臂。通过n型闭环绳索传动方案实现关节运动控制，结合滑轮组布局优化与张力预紧设计提升系统稳定性，并利用有限元分析对关键零部件进行强度校核及优化。【结果】优化后小臂质量减轻18.03%，最大应力236.8 MPa（安全系数>2.6），最大位移0.874 4 mm，满足设计强度、刚度要求，并显著降低了转动惯量。【结论】该绳驱动机械臂结构设计合理，优化效果显著，在±100 N负载下能够满足轻型作业场景的性能需求，并可为高性能绳驱动机械臂在农业工程领域的应用提供有益参考。
关键词：绳驱动机械臂；结构设计；滑轮组传动；有限元分析
Design of a Rope-Driven Manipulator Structure for Agricultural Engineering
Author: Xiao Shihua, Wang Hong, Liu Zhaohui, Zhang Youwei, Cao Zeyang (School of Mechanical and Electrical Engineering, Jinggangshan University, Ji’an 343000, China)
Abstract: [Objective] To solve the problems of insufficient accuracy and limited load capacity of existing rope-driven manipulator. [Method] A four degree of freedom rope-driven manipulator was designed, which includes a rotating base, a large arm, a small arm, and a gripper. Joint motion control is achieved through an n-type closed-loop rope transmission scheme, combined with pulley layout optimization and tension pre tensioning design to improve system stability. Finite element analysis is used to verify and optimize the strength of key components. [Result] After optimization, the weight of the forearm was reduced by 18.03%, the maximum stress was 236.8 MPa (safety factor>2.6), and the maximum displacement was 0.874 4 mm, meeting the design strength and stiffness requirements, and significantly reducing the moment of inertia. [Conclusion] The structure design of the rope-driven manipulator is reasonable, and the optimization effect is significant. It can meet the performance requirements of lightweight work scenarios under ±100 N load, and can provide useful reference for the application of high-performance rope-driven manipulator in the field of agricultural engineering.
Keywords: rope-driven manipulator; structural design; pulley block transmission; finite element analysis
引文信息：[1]肖石华，王鸿，刘朝晖，等.一种农业工程的绳驱动机械臂结构设计[J].南方农机，2025，56(15)：36-39+47.
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