CubiX机器人能自主连接环境并移动，突破传统线驱机器人的空间限制。
CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment
- 通过8根可连接环境的线缆实现自驱动，集成绞盘机构
- 无需预设工作区，可在任意位置构建线驱结构
- 便携式设计，适合复杂或非结构化环境应用
线驱动并联机器人利用多根线缆控制末端执行器运动，线缆一端连接末端，另一端锚定在外部结构上。该构型将驱动器与末端分离，使机器人移动部件轻量化且结构简化。然而，其运动范围受限于线缆构成的空间，仅能在预先设计的区域内工作。本文提出一种名为CubiX的线驱动机器人，具备连接并利用环境的能力。该机器人最多可使用8根线缆与环境连接，并通过自身绞盘机构收放线缆实现自驱动。通过将绞盘驱动器集成于机器人本体，实现了无工作空间限制的便携式线驱动并联机器人。因此，该机器人可在任意操作位置通过连接环境线缆，形成新的并联线驱结构。
原文摘要 · Abstract (English)
A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anchored to fixed points on external structures. This configuration allows for the separation of actuators and end-effectors, enabling lightweight and simplified movable parts in the robot. However, its range of motion remains confined within the space formed by the wires, limiting the wire-driven capability to only within the pre-designed operational range. Here, in this study, we develop a wire-driven robot, CubiX, capable of connecting to and utilizing the environment. CubiX connects itself to the environment using up to 8 wires and drives itself by winding these wires. By integrating actuators for winding the wires into CubiX, a portable wire-driven parallel robot is realized without limitations on its workspace. Consequently, the robot can form parallel wire-driven structures by connecting wires to the environment at any operational location.
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