面向容错特性的高可靠性冗余并联六维力传感器研究

项目名称： 面向容错特性的高可靠性冗余并联六维力传感器研究

项目编号： No.51305383

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 姚建涛

作者单位： 燕山大学

项目金额： 26万元

中文摘要： 面向航天、国防等领域对高可靠性六维力传感器的迫切需求，本项目提出将冗余、容错理念引入并联六维力传感器及其系统，通过机理建模、理论分析和应用实验相结合的途径，构建面向容错特性的冗余并联六维力传感器理论体系。基于解析整体刚度和位移协调的思想，从容错测量角度揭示冗余并联六维力传感器结构的力学映射特性和内在规律；融合可靠度理论和并联机构型综合方法，开展适于高可靠性要求的容错式并联力传感器机构选型及弹性体创新设计；综合考虑冗余与容错特性，提出能够量化描述、表征传感器物理性能的评价指标，并采用多级优化策略建立容错式传感器优化设计方法；提出容错式传感器关键技术的解决方案，研制传感器样机，研究故障诊断和模型重构算法，开发容错式信号采集及测量系统，进行标定和应用实验研究。研究内容将为冗余并联机构的应用开辟新方向，拓展和深化并联六维力传感器设计理论，为开发高可靠性六分力测试系统提供重要的理论依据和技术基础。

中文关键词： 六维力传感器；高可靠性；冗余并联机构；容错特性；性能优化

英文摘要： In order to meet the urgent need of high-reliability six-axis force in field of aerospace and national defense, the concept of redundancy and fault-tolerance is introduced to the parallel six-axis force sensor in this project. By combining mechanism modeling, theoretical design and application experiment, the theoretical system of redundant parallel six-axis force sensor oriented fault-tolerant characteristic will be constructed. Based on the thought of total stiffness analysis and displacement compatibility, the mechanical mapping characteristics and inherent laws of the redundant parallel six-axis force sensor will be revealed from the view of fault-tolerant measurement. Through the reliability theory and synthesis method of the parallel mechanism, the mechanism selection and elastic body innovation design of the fault-tolerant sensor oriented to high reliability requirement will be studied. Considering redundancy and fault-tolerant properties comprehensively, the evaluation indices quantified and characterized the sensor physical performance will be proposed and the optimal design method will be built with multi-level optimal strategy. The solving scheme for the key technology problems of the fault-tolerant sensor will be put forward and the prototype of the sensor will be manufactured. Based on the proposed

英文关键词： six component force sensor；high reliability；redundant parallel mechanism；fault-tolerant；performance optimization