By introducing a restraining mechanism to restrict the movement of the platform, the application range of the parallel wire-driven robot can be greatly extended.
本文通过增加约束机构对运动平台运动进行限制，扩大了柔索并联机构的应用范围。
Specially, the statics model of the wire-driven parallel mechanism of more than two DOFs is studied and two methods for the solution are presented.
本文还特别研究了多自由度绳牵引并联机构的静力学模型的求解，提出了两种计算方法。
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