• 机械基础工程 •

### 一种四自由度空间并联机构的奇异容错纠错策略与方法研究

1. 电子科技大学,成都,611731
• 出版日期:2011-05-25 发布日期:2011-05-31
• 基金资助:
国家自然科学基金资助项目(50775027)；机械传动国家重点实验室开放基金资助项目(SKLMT-KFKT-201010)；流体传动及控制国家重点实验室开放基金资助项目(GZKF-201029)
National Natural Science Foundation of China（No. 50775027）

### Study on Fault Tolerance and Fault Rectification Strategy and Approach for Singularities of a 4-DOF Spatial Parallel Mechanism

Chen Si;Fan Shouwen

1. University of Electronic Science and Technology of China,Chengdu,611731
• Online:2011-05-25 Published:2011-05-31
• Supported by:

National Natural Science Foundation of China（No. 50775027）

Abstract:

Based on singularity classification approach of Gosselin, singularities of type Ⅱ were treated as a kind of mechanical system faults, a fault-tolerance and fault-
rectification strategy framework for eliminating singularities was presented based on actuation redundancy herein. Basic idea and implementation process of this framework
were expatiated, the essence of singularity occurring and singularity being removed
were interpreted by solutions of linear equations and matrix condition number. Degree of singularity fault-tolerance was defined as an index for describing the performance of singularities being eliminated. Based on this index, an optimization algorithm was proposed
to determine optimal structural parameters for the redundant actuation, which enabled parallel manipulators to possess maximum singularity fault-tolerance ability. A typical singularity loci for 2RPS&2TPS parallel mechanism was obtained, three fault-tolerance and fault-rectification strategies were presented and compared in details. Simulation researches for above three fault-tolerance and fault-rectification strategies were conducted.Simulation results show that the fault-tolerance and fault-rectification strategy based on degree of singularity fault-tolerance can eliminate side effect of singularities in parallel mechanisms effectively.