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Fault-tolerant parallel six-component force sensor

  • Recent Progress and Novel Applications of Parallel Mechanisms
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Abstract

During some key force measuring tasks in the harsh environment such as aerospace, national defense, deep-sea exploration, higher working reliability is required. The design concept of fault-tolerance is proposed in the design of parallel six-component force sensor. Two kinds of fault-tolerant parallel structure force sensor without pre-stressing platform and two kinds of fault-tolerant and fully pre-stressed parallel structure force sensor using modified spherical pairs, together with another three kinds of wheel-spoke fault-tolerant force sensor are proposed. Compared with traditional Stewart platform-based sensor, the structural characteristics of the sensors are analyzed. The complete mathematic models including the models before and after signal fault are established by using theory of screw and the relations between stiffness and force distribution. The unified mathematic model is suitable for all the fault-tolerant six-component force sensor with different structures proposed in this paper. Calibration study of a sensor prototype without fault and with signal fault is carried out and non-linear errors are analyzed. The research of the paper provides not only theoretical basis and practical significance for the study on high reliable six-component force sensor, but also a new applied orientation for the redundant parallel mechanism.

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Acknowledgments

This research is sponsored by the financial support of the Major State Basic Research Development Program of China (973 Program) (Grant No. 2013CB733000), the NSFC(Grant Nos. 51305383, 51275439), and Specialized Research Fund for the Doctoral Program of Higher Education (SRFDP) (20131333120007), Hebei Province Natural Science Research Project for Distinguished Young Scholars in Higher Education Institutions (No. YQ2014040). The reviewers are also acknowledged for their critical comments.

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Authors and Affiliations

  1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, 066004, China

    Jiantao Yao, Hongyu Zhang, Weimin Zhang, Yundou Xu & Yongsheng Zhao

  2. Key Laboratory of Advanced Forging and Stamping Technology and Science, Ministry of Education of China, Yanshan University, Qinhuangdao, 066004, China

    Jiantao Yao, Yundou Xu & Yongsheng Zhao

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  1. Jiantao Yao
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  2. Hongyu Zhang
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  3. Weimin Zhang
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  4. Yundou Xu
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  5. Yongsheng Zhao
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Correspondence to Jiantao Yao or Yongsheng Zhao.

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Yao, J., Zhang, H., Zhang, W. et al. Fault-tolerant parallel six-component force sensor. Meccanica 51, 1639–1651 (2016). https://doi.org/10.1007/s11012-015-0299-5

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  • DOI: https://doi.org/10.1007/s11012-015-0299-5

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