A 6-DOF Heavy-Load Parallel Manipulator with RFTA and its Application
This paper proposes a 6-DOF (Degree of Freedom) heavy-load parallel manipulator with a redundant actuation and fault-tolerant actuator (RFTA). The novel RFTA model of the proposed manipulator is developed and its working principle is described. In order to achieve the given motion, the mathematic models of the proposed manipulator with the RFTA are derived. As a prototype of an earthquake simulator, two experiments are performed. The experimental results demonstrate that the RFTA is able to supply the required double driving force and appropriate used as an actuator of a low frequency earthquake simulator. The results of the fault-tolerant experiment show the earthquake simulator with the RFTA is capable of tolerating some local faults. The proposed parallel manipulator can also be applied under other heavy-load environments.
Jianzheng Zhang Hongnian Yu Feng Gao Dan Zhang Xianchao Zhao Cunxiang Ma
State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 20024 Faculty of Computing,Engineering and Technology Staffordshire University,Stafford,ST18 0DG,UK Faculty of Engineering and Applied Science,UOIT,2000 Simcoe Street North Oshawa,ON L1H 7K4,Canada
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
470-475
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）