基于驱动或结构冗余的并联机器人容错方法

研究了并联机器人利用驱动冗余进行驱动器故障容错及利用结构冗余进行关节故障容错的方法.结合冗余驱动并联机构的力矩分配问题的多解性,分析了部分驱动器故障后在剩余正常工作驱动器之间重新分配驱动力矩以实现容错的方法.结合结构冗余并联机构的特点,分析了放弃部分结构自由度以完成操作任务的方法.从运动学和动力学角度讨论了两类冗余机器人的特点及容错的可能性,以一种平面三自由度并联机构为实例,针对驱动器及关节故障分别分析了故障后机构运动学和动力学性能的变化,验证了采用驱动及结构的冗余进行容错的可行性.

Fault tolerance of parallel manipulator with actuation or structure redundancy

The fault tolerance approaches for actuator fault of parallel manipulator by using actuator redundancy were researched and the fault tolerance approaches with structure redundancy for the joint fault of parallel manipulator were discussed. According to the multiplicity of torque distribution in redundant actuated parallel manipulator, after partial actuator fault happens, the torque re-distribution among remaining working actuators was analyzed to realize fault tolerance. Considering the character of redundant structure parallel manipulator, the way to ensure the completion of task by aborting some structure freedoms was further studied. From kinematic and dynamic perspectives, the character and fault tolerance feasibility of the two types of redundant manipulators were presented. Taking 3-DOF planar parallel manipulator as an example, the kinematic and dynamic performance change of actuator and joint faulted manipulator was respectively stated. Furthermore, data simulating result indicates the feasibility of the fault tolerance with actuator and structure redundancy of parallel manipulator.