本项目通过融合刚性杆件并联机构和绳驱动并联机构两者优点，提出含刚性关节的绳驱动并联机构研究原型，深入研究该类机构的构型理论和设计方法，并进行构型分析和综合，获得具有应用价值的新型并联机构构型；通过建立机构运动学、静力学和柔体动力学模型，系统研究机构的静态和动态性能，建立涵盖机构运动学和动力学性能指标的机构综合性能评价方法，在虚拟样机仿真研究的基础上，依据分析结果对机构进行整体结构设计和尺度优化，提出含刚性关节的绳驱动单元设计方法，面向医疗康复和食品包装行业需求，研制分别含有转动刚性关节和移动刚性关节的绳驱动并联机构样机，搭建机构控制系统，建立实验测试平台，为设计制造兼有刚性驱动和绳驱动并联机构优点的新型驱动并联机构奠定理论和实践基础。.本项目研究成果对丰富和完善并联机器人机构学理论，发明创造出新型且有实用价值的并联机构具有重要的理论及现实意义。

In this project, by combining the advantages of rigid link type parallel mechanism and cable-driven parallel mechanism, the research prototype of cable -driven parallel mechanism with rigid joints is proposed. First, the configuration theory and design method of this kind of mechanism are studied in depth, the design method of cable-driven parallel mechanism with rigid joints is proposed, and the configuration analysis and synthesis are carried out to obtain a new type of mechanism configuration with application value. Then, the kinematics, statics and elastodynamics models of mechanism are studied systematically, static and dynamic performance of mechanism is studied systematically, and mechanism performances evaluation method covering kinematics and dynamic performance index of mechanism are established. Based on numerical simulation research, overall structure design and dimension optimization of mechanism are carried out according to the analysis results, and two cable-driven parallel mechanism s with rotating and prismatic rigid joints are developed respectively. Finally, the mechanism control system is built, and the experimental test platform is established, which lays a theoretical and practical foundation for the design and manufacture of the new type of parallel mechanism with the advantages of both rigid link parallel mechanism and cable-drive parallel mechanism..The research results of this project have important theoretical and practical significance for enriching and perfecting the mechanism theory of parallel robots and inventing new and practical parallel mechanisms.