Abstract
The fault-tolerant control is regarded as the main method to improve the reliability of the parallel robot, which has the important value. For the 3-PRS parallel robot, the redundant design procedures are provided by using the redundant design method of the parallel mechanism. The redundant kinematic chain is designed according to the structure characteristics and then the 3-PR(P)S redundant parallel robot is obtained. The degrees of freedom (DOF) of the overall robot and the moving platform relative to the fixed platform are analyzed and calculated by making use of Screw Theory and the modified Kutzbach-Grubler formula. A fault-tolerant control strategy is proposed based on the position control model. The motion equations of the control input parameters are deduced under the master control and the master–slave control. The terminal trajectory is set and simulated through MATLAB. The results further show that the designed parallel redundant structure is reasonable and the fault-tolerant control of the 3-PRS parallel robot can be realized. So the method is effective and the expected trajectories of the motion are accomplished.
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Acknowledgements
Supported by Key Discipline of Mechanical Engineering in Henan Polytechnic University; Henan science and technology research plan (222102220008, 212102210045); the Fundamental Research Funds for the Universities of Henan Province (NSFRF210339); University Doctoral Fund (B2016-24).
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Junjie, H., Qinlei, Z., Pengfei, W., Bowen, Z. (2023). Fault-Tolerant Control of 3-PRS Parallel Robot Based on the Position Control. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_54
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DOI: https://doi.org/10.1007/978-981-19-9398-5_54
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