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首页> 外文期刊>Journal of Mechanical Design >Analysis of Active Joint Failure in Parallel Robot Manipulators
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Analysis of Active Joint Failure in Parallel Robot Manipulators

机译：并联机器人的主动关节失效分析

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摘要

In this study, the effect of active joint failure on the mobility, velocity, and static force of parallel robot manipulators is investigated. Two catastrophic active joint failure types are considered: joint jam and actuator force loss. To investigate the effect of failure on mobility, the Gruebler's mobility equation is modified to take into account the kinematic constraints imposed by various branches in the manipulator. In the case of joint jam, the manipulator loses the ability to move and apply force in a specific portion of its task space; while in the case of actuator force loss, the manipulator gains an unconstrained motion in a specific portion of the task space in which an externally applied force cannot be resisted by the actuator forces. The effect of joint jam and actuator force loss on the velocity and on the force capabilities of parallel manipulators is investigated by examining the change in the Jacobian matrix, its inverse, and transposes. It is shown that the reduced velocity and force capabilities after joint jam and loss of actuator force could be determined using the null space vectors of the transpose of the Jacobian matrix and its inverse. Computer simulation is conducted to demonstrate the application of the developed methodology in determining the post-failure trajectory of a 3-3 six-degree-of-freedom Stewart-Gough manipulator, when encountering active joint jam and actuator force loss.
机译：在这项研究中，研究了主动关节失效对并联机器人操纵器的运动性，速度和静力的影响。考虑了两种灾难性的主动关节失效类型：关节卡塞和执行器力损失。为了研究故障对移动性的影响，对Gruebler的移动性方程进行了修改，以考虑到操纵器中各个分支施加的运动学约束。如果发生关节卡塞，机械手将失去在其任务空间的特定部分移动和施加力的能力；而在致动器力损失的情况下，操纵器在任务空间的特定部分获得不受约束的运动，在该特定部分中，外部施加的力不能被致动器力抵抗。通过检查雅可比矩阵的变化，其逆和转置，研究了关节卡纸和致动器力损失对并联机械手的速度和受力能力的影响。结果表明，可以使用雅可比矩阵的转置及其反函数的零空间矢量来确定关节卡纸后减小的速度和受力能力以及执行器力的损失。进行了计算机仿真，以证明所开发的方法在确定3-3六自由度Stewart-Gough机械手在遇到主动关节卡住和执行器力损失时的故障后轨迹中的应用。

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