空间六自由度机构的容错性能研究

空间并联机构通常服务于军事、气象领域中重要的通信设备，其运行过程中的容错能力至关重要。空间六自由度机构在轨应用中，单个支链出现故障会导致整个机构的功能受限，开展对高精度六自由度机构容错性能的分析和研究，对于空间六自由度机构在轨运行具有重要的意义。利用空间六自由度机构的冗余自由度进行了容错性能的分析与研究，设计并研制了惯性式压电六自由度机构样机，验证了机构在失效环境下的容错性能和可靠性，有效保障了故障状态下的工作性能。

Research on fault tolerance of spatial six degree of freedom mechanism

Space mechanisms usually serve the important communication equipment in military and meteorological fields, and the ability of fault tolerance in the process of operation is very important. In the orbital application, the failure of a single leg will lead to the paralysis of the full mechanism. Therefore, it is of great significance for the orbital operation of spatial 6-DOF platform to carry out the analysis and research on the fault-tolerant performance to improve the fault-tolerant performance and reliability in the case of failure. In this paper, the redundant degree of freedom of the upper platform is used to adjust when the leg fails, which improves the working space of the platform in fault-tolerant state and effectively guarantees the working performance in fault state.