摘要
应用冗余控制理论 ,对真空吸附式壁面机器人的安全性问题进行了较为深入的研究 ,提出了提高其安全性的一种有效措施——双真空泵负压冗余控制系统。通过计算 ,冗余控制可使整个负压系统的平均无故障工作时间至少增加一倍。实验证明该方案也是切实可行的。
With the theory of redundancy control, we studied the safety of the vacuum absorption wall robot in detail. A measure to improve the safety of vacuum absorption system——negative press redundancy control system of double vacuum pump, is put forward. Theoretic calculations show that with redundancy control the mean-time-between-failures(MTBF) of the vacuum system is doubled at least. Experiments also show that the measure is feasible and effective.
出处
《机械科学与技术》
CSCD
北大核心
2001年第1期108-109,共2页
Mechanical Science and Technology for Aerospace Engineering
