我国正在实施共融机器人项目，迫切需要研究能够与作业环境、人和其它机器人自然交互、自主适应复杂动态环境并协同作业的机器人。针对上述需求，项目以用于精密装配的刚柔耦合索驱动共融机器人为研究对象，研究其耦合特性、力传递原理和控制策略等关键理论。首先，在对机器人刚柔耦合研究的基础上，建立基于人-机器人-环境的多级耦合模型，对机器人的耦合特性和作业空间进行分析；其次，通过建立多级耦合动力学模型和矢量力输出模型以及力精度实时补偿模型，对机器人的力敏锐感知和精准控制功能进行研究；然后，兼顾人机安全，完成对基于实时力反馈的精准力位混合控制策略研究，并设计相应实验装置和测量系统，验证理论研究的正确性；最后，通过在航空航天产品精密装配领域的应用，验证本项目研究内容的实用性。通过对本项目的研究，不仅能够推动索驱动共融机器人基础理论及关键技术的研究，而且对推进我国自动化柔性精密装配技术的发展有着重要的意义。

China is now carrying out the project of the human machine communion robot, which urgently needs to study the natural interaction with the working environment, human and other robots, and to adapt to the complex dynamic environment. This project research on the key theory of the coupling characteristics, force transmission principle and control strategy for the rigid-flexible coupling cable-driven robot. First of all, based on the rigid-flexible coupling robot, establish multi-coupling model of human robot environment by the analysis of the robot's coupling characteristics and operation space; Secondly, Based on the multi-level coupling dynamics model, vector force output model and force precision real-time compensation model, the theory of robot force sensitivity and precision control function are studied; Then, the hybrid control strategy for the real-time force feedback is researched for the human security, and the theoretical research is verified by the corresponding experimental device and measurement system; Finally, through the application in aerospace products in the field of precision assembly, the practicability of the project is verified. We can not only promote the research of the basic theory and key technology of the cable driven communion robot, but also have important significance to advance the development of the automatic flexible precision assembly technology in our country.