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�������պ����ѧѧ�� 2008, Vol. 34 Issue (02) :244-248    DOI:
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�Ʋ�ϼ1, �ι�ƽ2, ½��1*
1. �������պ����ѧ �Զ�����ѧ���������ѧԺ, ���� 100083;
2. ������ҵ��ѧ ���繤��ѧԺ, ���� 100041
Force distribution of plane 2-DOF overactuated parallel manipulator with fault tolerance
Yan Caixia1, He Guangping2, Lu Zhen1*
1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. School of Electronics and Mechanism, North China University of Technology, Beijing 100041, China

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Abstract�� In order to ensure the fault tolerant capacity of manipulator under scenario the failed actuators are no more than system redundancy, the driving force distribution before and after failure was researched. Based on the D-Alembert principle and the equivalent force theory, a plane 2-DOF(degree of freedom) overactuated parallel manipulator dynamics model was built. Then, dynamics equation of manipulator with partial failure was analyzed. And fault tolerant driving force redistributing method was further deduced. To reduce the impact of active force abrupt change to end effectors before and after failure, a driving force distributing method was brought forward. It took the minimum quadratic sum of driving force difference between overactuated and faulting system as optimization objective. With data analysis, the force change ranges of traditional method and minimum difference oriented fault tolerant method were compared. The result indicates this optimized force distribute method can obviously improve fault tolerant performance.
Keywords�� redundant actuators   parallel manipulator   dynamics   fault tolerant     
Received 2007-03-22;


About author: �Ʋ�ϼ(1978��),Ů,���ɹ�ͨ����,��ʿ��,yancx@asee.buaa.edu.cn.
�Ʋ�ϼ,�ι�ƽ,½��.�����ݴ��ƽ������ɶȹ������������ط���[J]  �������պ����ѧѧ��, 2008,V34(02): 244-248
Yan Caixia, He Guangping,Lu Zhen.Force distribution of plane 2-DOF overactuated parallel manipulator with fault tolerance[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2008,V34(02): 244-248
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