Abstract
Aimed at one pre-stressed fault-tolerant six-axis force sensor, measuring model, fault-diagnosis, faulty limb identification, and reconfiguration model are thoroughly analyzed and researched. Compared with the traditional six-axis force sensor based on Stewart structure, the pre-stressed fault-tolerant six-axis force sensor possesses the property of fault-tolerance. With screw theory and deformation coordination, the mathematic models including fault-free mathematic model and signal fault mathematic model are established. Based on the mathematic models, a method for fault-diagnosis is proposed based on the uniqueness of the force mapping matrix. The method for the identification of faulty limb of pre-stressed fault-tolerant six-axis force sensor is proposed and verified by experiment. Moreover, reconfiguration idea for six-axis force sensor is proposed. In the LabVIEW-based environment, the programs including fault-diagnosis and reconfiguration model are written. The research lays a theoretical and experimental foundation for the application of the fault-tolerant six-axis force sensor.
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Acknowledgments
This research is sponsored by the financial support of the National Natural Science Foundation of China (No. 51305383), and the Specialized Research Fund for the Doctoral Program of Higher Education (No. 20131333120007), Hebei Province Natural Science Research Project for Distinguished Young Scholars in Higher Education Institutions (No. YQ2014040).
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Yao, J., Zhang, H., Zhu, J., Xu, Y., Zhao, Y. (2016). Fault Diagnosis and Reconfiguration of Pre-stressed Fault-Tolerant Six-Axis Force Sensor. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_32
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DOI: https://doi.org/10.1007/978-3-319-23327-7_32
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