针对普通悬索机器人位置控制精度不高、力传感成本高等问题,基于电机内部传感器设计一种具有力位混合控制功能的 悬索机器人。构建平面四索并联机器人模型,获取运动学反解方程及静力学平衡方程,设计力位混合控制系统；设计精准收放绳装置,以Arduino为控制核心、总线电机为驱动装置,实现机器人点位及轨迹控制。仿真及样机实验表明,系统具有较高的精确度和可行性,对实现悬索机器人高精度定位具有一定意义。

Aiming at the problems of low position control accuracy and high control cost of ordinary cable drive parallel robot(CDPR), a CDPR with force position hybrid control system is designed based on the built in sensor of the motor. The model of planar four cable parallel robot is constructed, the kinematics inverse equation and static equilibrium equation are obtained, and the force position hybrid control system is designed. A precise rope retracting device is designed, with Arduino as the control board and bus servo as the driving device, to realize the robot position and trajectory control. Simulation and prototype experiments show that the system has high accuracy and feasibility, and it is of certain significance for realizing highprecision positioning of CDPR.