Fault Diagnosis and Reconfiguration of Pre-stressed Fault-Tolerant Six-Axis Force Sensor

摘要

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.