基于驱动或结构冗余的并联机器人容错方法

闫彩霞; 战强; 陆震

基于驱动或结构冗余的并联机器人容错方法

1.
北京航空航天大学机械工程及自动化学院, 北京 100191
2. 北京航空航天大学自动化科学与电气工程学院, 北京 100191

基金项目: 国际科技合作计划资助项目 (2008DFA81280)

详细信息

作者简介:
闫彩霞(1978-),女,内蒙古通辽人,博士生,yancx@buaa.edu.cn.

中图分类号: TP 24
计量
- 文章访问数: 2996
- HTML全文浏览量: 52
- PDF下载量: 1071
- 被引次数: 0
出版历程
- 收稿日期: 2009-11-05
- 网络出版日期: 2010-12-30

Fault tolerance of parallel manipulator with actuation or structure redundancy

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 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.
- 并联机器人 /
- 冗余驱动 /
- 结构冗余 /
- 容错
Abstract: 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.
- parallel manipulator /
- redundant actuators /
- redundant structure /
- fault tolerant

HTML全文

参考文献(1)

[1] 蔡胜利,白师贤.3-SRS型带冗余度并联机器人的运动学分析[J].北京工业大学学报,1995,21(4):97-102 Cai Shengli,Bai Shixian.Kinematics of a 3-SRS redundant parallel manipulator[J].Journal of Beijing Polytechnic University,1995,21(4):97-102(in Chinese) [2] 蔡胜利,白师贤.冗余驱动的平面并联操作手的输入力优化[J].北京工业大学学报,1997,23(2):37-41 Cai Shengli,Bai Shixian.Optimization of actuating forces of redundantly actuated planar parallel manipulator[J].Journal of Beijing Polytechnic University,1997,23(2):37-41(in Chinese) [3] Yan Caixia,Lu Zhen.Research on features of faulting redundant actuation manipulator //Proceedings of SPIE International Conference on Instrumentation and Control Technology.Beijing:SPIE,2006:635758 [4] Liu G F,Wu Y L.Analysis and control of redundant parallel manipulator //Proceedings of the IEEE International Conference on Robotics and Automation.Seoul:ROBOT,2001:3748-3754 [5] Cheng H,Yiu Y K,Li Z X.Dynamics and control of redundantly actuated parallel manipulators[J].IEEE/ASME Transaction on Mechatronics,2003,8(4):483-491 [6] Yan Caixia,He Guangping.Over-actuated parallel manipulator fault tolerant control based on minimum difference oriented smooth transition method //Proceedings of the IEEE International Conference on Mechatronics and Automation.Harbin:IEEE Robotics and Automation Society,2007:1817-1821 [7] 闫彩霞,何广平,陆震.考虑容错的平面二自由度过驱动机构力矩分配[J].北京航空航天大学学报,2008,34(2):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 Astronautics,2008,34(2):244-248(in Chinese) [8] 闫彩霞,闫楚良,陆震.基于加权矩阵的过驱动并联机构驱动力矩调节法[J].吉林大学学报:工学版,2008,38(5):1215-1219 Yan Caixia,Yan Chuliang,Lu Zhen.An approach to coordinate driving torque of redundant actuated parallel manipulator based on weighted matrix[J].Journal of Jilin University:Engineering and Technology Edition,2008,38(5):1215-1219(in Chinese) [9] Yi Y,McInroy J E,Chen Yixin.Fault tolerance of parallel manipulators using task space and kinematic redundancy[J].IEEE Transaction on Robotics and Automation,2006,22(5):1017-1021 [10] Yong Y.Fault tolerant N-DOF gough-stewart platforms:kinematics,dynamics,and design .Wyoming:Department of Electrical and Computer Engineering,University of Wyoming,2005 [11] 闫彩霞,何广平,陆震.过驱动并联机器人驱动力矩的特解构造法[J].北京航空航天大学学报,2008,34(6):725-728 Yan Caixia,He Guangping,Lu Zhen.Driving torque special solution constructive approach of redundant actuated manipulator[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(6):725-728(in Chinese)

施引文献

资源附件(0)

访问统计