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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.
In this paper, a method of fault tolerant of drive fault using drive redundancy and fault tolerance of joint fault using structural redundancy is studied.Combining with the multi-solution of torque distribution problem of redundant drive parallel mechanism, it is analyzed that after some drive faults, The method of redistributing the driving torque to achieve fault tolerance is proposed.According to the characteristics of the structure redundant parallel mechanism, the method of giving up the freedom degree of partial structure to complete the operation task is analyzed.Analyzed the kinematics and dynamics of two types of redundant robots Characteristics and fault tolerance of a planar three degree-of-freedom parallel mechanism as an example, respectively, for the drive and joint failure were analyzed after the fault mechanism kinematic and dynamic performance changes verify the use of redundant drive and the structure of fault-tolerant Feasibility.