故障容错机械臂运动学可靠性设计

从机械臂运动学的角度，定义了故障容错机械臂、故障容错机械臂的阶、通用故障容错机械臂、特定任务故障容错机械臂，论证了通过运动学关节冗余也同样可以提高机械臂系统的可靠性、故障容错机械臂应该具备的自由度数、以及针对不同的任务要求来设计故障容错机械臂的方法。通过将任务空间抽象简化为一系列的特征点，建立与机械臂参数向理想值接近程度相关的罚函数，选择有效的优化算法，设计出了通用一阶故障容错平面位置机械臂、通用一阶故障容错空间位置机械臂、以及特定任务一阶故障容错平面位置机械臂。建立起完整的故障容错机械臂设计方法，对航天机器人的研究具有一定价值。

Reconfigurable fault tolerant space manipulator design

This paper defines in kinematics the property of fault tolerant manipulators,the order of fault tolerant manipulators,general fault tolerant manipulators and task specific fault tolerant manipulators.It is constructively proved that adding more redundant degree of freedom is very useful to enhance the reliability of manipulator systems.The degree of freedom of fault tolerant manipulators,the method of designing manipulators under different task restrictions are also shown.A general planar position first order fault tolerant manipulator, a general space position first order fault tolerant manipulator and a task specific planar position first order fault tolerant manipulator are designed.All these are under the precondition of turning workspace to representative points,constructing penalty function and selecting appropriate optimization method.So a successful method of designing fault tolerant manipulators is set up,it is very important to space robot research.