项目名称: 基于冗余结构的自适应容错并联机器人设计理论研究
项目编号: No.51505023
项目类型: 青年科学基金项目
立项/批准年度: 2016
项目学科: 机械、仪表工业
项目作者: 曲海波
作者单位: 北京交通大学
项目金额: 21万元
中文摘要: 本项目针对冗余并联机器人装备在高速运行时的安全性和可靠性,以及发生故障后机器人装备自我修正和恢复运动的容错性能等问题,研究基于结构冗余的自适应容错并联机器人系统优化设计理论。本项目将研究冗余并联机器人输出特性与机构整体自由度的解析表达,得到机构自适应运动协调的条件。建立影响机构性能的各个参数之间的内在联系,提出基于冗余结构的自适应容错并联机器人设计理论和方法。分析结构冗余并联机器人的动态可重构构型,从机械本体设计的角度研究减轻机器人运行过程中机械振动的规律,得到机器人在规划路径上的动态模态形式。研究结构冗余并联机器人动态容错构型,分析末端操作器实现期望工作指标的容错可达工作空间,建立故障发生后机构自我修正和恢复运动的容错规律。为研制开发结构冗余并联机器人装备奠定良好的理论基础。
中文关键词: 并联机器人;结构冗余;自适应;容错;模态分析
英文摘要: For the safety and reliability of redundant parallel robot equipment during high speed movement, and the fault tolerant performance of self-correcting and recovering movement after failure, an optimal design theory of self-adaptive fault tolerant parallel robot based on redundant structures will be studied. This project will investigate the analyzing expression of output characteristics and the degrees of freedom of the whole redundant parallel robot, and obtain the condition of Self-adaptive motion coordinating. Based on the inner relationship among mechanical parameters affecting performance, the design theory and method of self-adaptive fault tolerant parallel robot based on redundant structures will be proposed. From the mechanical view of reducing vibration, the dynamic model form on a planned path will be yield after analyzing the reconfigurable configuration of parallel robots with redundant strucutres. This project will further analyze the dynamic fault-tolerant configuration, obtain the fault-tolerant workspace, and establish the fault-tolerant rules of self-correcting and recovering movement after failure. The outcomes of this project can be used to settle the theoretical foudation for developing parallel robot equipment with redundant structures.
英文关键词: parallel robot;redundant structure;self-adaptive;fault-tolerant;modal analysis