The invention discloses a
rope-driven multi-degree-of-freedom series
manipulator and a driving method thereof, and belongs to the field of manipulators. The
rope-driven
manipulator comprises a base, a
waist joint unit, a
waist platform, a large arm unit, a small arm unit, a
tail end platform unit and the like. One ends of steel wire ropes are fixed to driven wheels at joints, the other ends of the steel wire ropes are fixed to a driving unit
winch at the
waist platform, so that the driving force is transferred from the
winch at the waist platform to the driven wheels at the joints at the rear end by means of the ropes and accordingly drives the joint units to conduct rotation movement around joint shafts correspondingly. The joint driving ropes are guided by guide pulleys and bypass the joint shafts at the front end sequentially, by arranging the specified diameters of shaft guide wheels, a driving method is built, thus any joint at the front end of the
manipulator rotates while the posture of the
tail end of the manipulator remains unchanged relative to the world coordinate
system. The buffer effect of making contact of the manipulator with the environment is increased through the flexibility of the ropes, and the
rope-driven multi-degree-of-freedom series manipulator is especially suitable for occasions with the high requirements for the interaction safety of the manipulator, people and the environment.