随着我国航天技术的发展，航天器上的太阳翼等大型柔性结构件得到了广泛应用，但由于其工作于真空、微重力状态，受外部扰动或本体运动，极易产生振动，严重影响其指向精度和空间姿态稳定性。针对超长尺度柔性结构振动抑制的要求，项目以主动抑振索驱动机器人为研究对象，研究其振动特性、力传递特性和控制策略等关键技术。首先，基于动平台为柔性体的索驱动机器人，建立机器人的静力学模型，研究机器人整体系统在静态受力下的广义位移；其次，在不同的边界条件下，研究柔索预张紧力对该系统自由振动的影响规律，在此基础上建立系统整体的动力学模型，研究在柔索索力实时变化下的系统动态响应特性；最后，完成索驱动机器人的主动抑振策略研究，并通过索实验物理平台验证理论研究的正确性。通过对本项目的研究，不仅能够推动索驱动机器人主动抑振理论及关键技术的研究，而且对推进大型柔性结构在航天器上的广泛应用有着重要的意义。

With the development of our national space technology, large-scale flexible structures such as solar wings on spacecraft have also been widely used. The flexible extension mechanism of the satellite works in vacuum and microgravity state, where it is easily subjected to external disturbance or body maneuvering, which seriously affects its accuracy and stability. According to the requirements of vibration suppression of ultra-long-scale flexible structures, the project researches on the key technologies of vibration characteristics, force transmission characteristics and control strategies of cable parallel robots. Firstly, based on the cable parallel mechanism of the flexible platform, the static model of the cable parallel robot is established. On this basis, the generalized displacement of the whole system under static force is studied. Secondly, under different boundary conditions, the influence of the pre-tensioning tension of the cable on the free vibration of the system is studied. Then the dynamic model of the whole system will be established to study the dynamic response of the system under the real-time changing of the cable force. Finally, the active vibration suppression strategy of the cable-driven robot will be accomplished, and the theoretical research will be verified by the corresponding experimental physical platform. This project can not only promote the research of active vibration suppression theory and key technologies of cable-driven parallel robots, but also has important significance for promoting the wide application of large flexible structures in spacecraft.