Research on Features of Faulting Redundantly Actuation Manipulator

摘要

Fault tolerance of robot was highly demanded in hazard working circumstances. And, actuator fault is a common type of system failure. This paper researches some basic issues of 2-DOF planar redundant actuation parallel system and faulting robot. At the beginning, the Jacobian matrix resolving problem of redundant actuation parallel robot is introduced, and the Jacobian matrix actuator fails is deduced. Furthermore, the forward and inverse position solution methods for both redundant actuation parallel manipulator and system with faulting actuator are presented. With detailed example, the validation of position solution method is proved. Moreover, the workspace analysis method of the redundant parallel manipulator pre and post faulting is addressed. Also, the resolving diagram is included. Finally, based on virtual work principle, a new way to reallocate actuation force and faulting compensation is introduced.