可重构空间故障容错机械臂设计

Reconstitutable design for spatial fault tolerance mechanical arm

从机械臂运动学的角度 ,定义了故障容错机械臂、故障容错机械臂的阶、通用故障容错机械臂和特定任务故障容错机械臂 ,论证了通过运动学关节冗余也同样可以提高机械臂系统的可靠性 ,故障容错机械臂所应该具备的自由度数 ,以及针对不同的任务要求 ,设计故障容错机械臂的方法。通过将任务空间抽象简化为一系列的特征点 ,建立机械臂参数与理想值相关的罚函数 ,选择有效的优化算法 ,设计出了通用一阶故障容错平面位置机械臂 ,通用一阶故障容错空间位置机械臂 ,以及特定任务一阶故障容错平面位置机械臂 ,建立起完整的故障容错机械臂的设计方法。

Start from point of view of mechanical arm kinematics, the fault tolerance mechanical arm, order of fault tolerance mechanical arm, commonly used fault tolerance mechanical arm and specified task fault tolerance mechanical arm were defined. Demonstrations had been made upon the reliability of mechanical arm system could be enhanced as well by means of redundancy of kinematics joints, and upon the degree of freedom ought to be possessed by fault tolerance mechanical arm, and upon the method of designing the fault tolerance mechanical arm directed to different task requirements. By way of letting the task space be abstracted and simplified to a series of characteristic points, the punishment function related to parameters of mechanical arm and its ideal value was established. Choosing the effective optimization algorithm, the general first ordered fault tolerance mechanical arm in planar position, the general first ordered fault tolerance mechanical arm in spatial position and first ordered specific task fault tolerance mechanical arm in planar position were designed. The complete designing method of fault tolerance mechanical arm had been set up.