Design and development of a novel redundant and fault-tolerant actuator unit for heavy-duty parallel manipulators

Zhang, J; Gao, Feng; Yu, Hongnian; Zhao, Xin

doi:10.1177/0954406211411864

Cited by 7 publications

(5 citation statements)

References 32 publications

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“…On the other hand, it can also cause internal forces to fight and cancel each other out if there is a local fault, such as one chain not working or chains not being synchronous, which will damage the system. In this article, a novel redundant actuation module with self-adjusting function [23][24][25] is employed for the proposed parallel manipulator, as shown in Fig. 3.…”

Section: Redundant Actuator Modulementioning

confidence: 99%

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Use of an orthogonal parallel robot with redundant actuation as an earthquake simulator and its experiments

Zhang

Gao

et al. 2011

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this article, an orthogonal 6-degree-of-freedom (DOF) parallel robot with redundant actuation is studied as an earthquake motion simulator. Taking the practical simulation of earthquake waves into consideration, the general characteristics of natural earthquakes are analysed and complexity and variety of seismic waves, three-dimensional and multi-DOF movement, and strong devastating force are regarded as the three obvious features in this article. Based on the characteristics of this orthogonal 6-DOF parallel robot with redundant actuation and the features of earthquakes, the feasibility of using this parallel robot as an earthquake motion simulator is analysed from three aspects: orthogonal 6-DOF structure, decoupling feature, and redundant actuation module. In order to simulate an earthquake motion using this parallel robot, its inverse kinematics and dynamics models are derived. The control system of this earthquake simulator is developed based on the PXIbus development platform. The computed-torque control algorithm based on the inverse dynamics is used in the controller of this equipment. A typical three-directional earthquake motion, the El Centro earthquake, is simulated on the end-effector of this parallel robot by means of its mathematical models and control system. Three main motion parameters of simulated seismic waves, displacements, velocities, and accelerations, are measured, respectively, by laser tracker and acceleration sensors. The experimental results show this equipment is appropriate to be used as an earthquake simulator.

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Section: Redundant Actuator Modulementioning

confidence: 99%

“…A trajectory used in the simulation is designed by considering the general requirement of the seismic simulation and the parameters of the prototype as in the following equations (25) and (26). 5.…”

Section: Simulation and Analysismentioning

confidence: 99%

Use of an orthogonal parallel robot with redundant actuation as an earthquake simulator and its experiments

Zhang

Gao

et al. 2011

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

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“…Nowadays, FTC is generally achieved by the following three methods. Firstly, multiple drives are used in the active joints; for example, Zhang et al [ 25 ] employ dual-input/single-output (DISO) to drive the servo press machine. Secondly, the parallel robot could use a redundant drive [ 26 ] to eliminate singularities in the workspace.…”

Section: Introductionmentioning

confidence: 99%

Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander

Yin

Zhou

Sun

et al. 2021

Sensors

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The cascading launch and cooperative work of lander and rover are the pivotal methods to achieve lunar zero-distance exploration. The separated design results in a heavy system mass that requires more launching costs and a limited exploration area that is restricted to the vicinity of the immovable lander. To solve this problem, we have designed a six-legged movable repetitive lander, called “HexaMRL”, which congenitally integrates the function of both the lander and rover. However, achieving a buffered landing after a failure of the integrated drive units (IDUs) in the harsh lunar environment is a great challenge. In this paper, we systematically analyze the fault-tolerant capacity of all possible landing configurations in which the number of remaining normal legs is more than two and design the landing algorithm to finish a fault-tolerant soft-landing for the stable configuration. A quasi-incentre stability optimization method is further proposed to increase the stability margin during supporting operations after landing. To verify the fault-tolerant landing performance on the moon, a series of experiments, including five-legged, four-legged and three-legged soft-landings with a vertical landing velocity of −1.9 m/s and a payload of 140 kg, are successfully carried out on a 5-DoF lunar gravity ground-testing platform. The HexaMRL with fault-tolerant landing capacity will greatly promote the development of a next-generation lunar prober.

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“…can also use ECA as the high-bandwidth vibrator (Davis and Bunker, 2007). Moreover, multiple ECAs can be stacked to develop parallel manipulators for industrial robots to frequently handle heavy-load operation conditions (Zhang et al, 2011). The ECA design solutions for these applications may also be worth investigating in future study.…”

Section: Introductionmentioning

confidence: 99%

Development of a novel high-speed actuation mechanism using a magneto-rheological fluid clutch and its application to a fluid control valve

Xiong

Wilfong

Lumkes

2019

Journal of Intelligent Material Systems and Structures

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In many dynamic systems, such as vehicles, engine air and fuel control systems, fluid power systems, industrial robotics, and testing machines, high-speed actuators are necessary to achieve efficient system operation and high bandwidth performance. This article introduces a new actuation mechanism to enable high-speed actuation. The premise for this actuation mechanism is to momentarily couple a moving component (kinetic energy source) with translational components, which is enabled by a coupling/clutch system. The kinetic energy source (flywheel, electric motor, pump or motor shaft, etc.) is intermittently clutched and declutched to produce linear motion. This article presents such an energy coupler actuator using a magneto-rheological fluid clutch, initially focused on an application for high-speed valve actuation. A multi-physics coupled model was developed to evaluate the proposed energy coupler actuator performance. Simulations were conducted to optimize the energy coupler actuator design parameters. A prototype of the magneto-rheological fluid energy coupler actuator based on the optimal design solution was fabricated and experimentally tested, which achieved 1.6-mm stroke in 4.7 ms.

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Design and development of a novel redundant and fault-tolerant actuator unit for heavy-duty parallel manipulators

Cited by 7 publications

References 32 publications

Use of an orthogonal parallel robot with redundant actuation as an earthquake simulator and its experiments

Use of an orthogonal parallel robot with redundant actuation as an earthquake simulator and its experiments

Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander

Development of a novel high-speed actuation mechanism using a magneto-rheological fluid clutch and its application to a fluid control valve

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