| 摘要 |
A robot (13) is comprised of a platform (29), tendons (14, 15, 17, 19, 21, 23, 25 and 27) and a control unit (64). The platform (29) contains proximal reels (33, 35, 37, 39, 41, 43, 45 and 47) for the storage, retraction and extension of the tendons, with each tendon having a reel. Platform (29) also includes a master computer (65) for receiving commands from robot controls (78) and for responsively controlling and coordinating the operation of the reels. The distal ends of the tendons are anchored at separate locations. The robot (13) has a work space (73, 74) which is primarily determined by the location of the tendon anchors, although an expanded work space (75) can be obtained by having pairs of tendons cross each other in between the platform (29) and their distal anchor points. The platform (29) is translated and rotated in the work space by controlling the lengths of the tendons extending from their respective reels. When used with at least six tendons and reels, the platform (29) has six degrees of freedom: translation in three axes and rotation about each of the foregoing three axes.
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