| 容错并联式六维力传感器可靠性及冗余分析 |
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| 引用本文： | 姚建涛 蔡大军 朱佳龙 许允斗 赵永生. 容错并联式六维力传感器可靠性及冗余分析[J]. 仪器仪表学报, 2015, 36(8): 1699-1706 |
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| 作者姓名： | 姚建涛 蔡大军 朱佳龙 许允斗 赵永生 |
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| 作者单位： | 1. 燕山大学河北省并联机器人与机电系统实验室秦皇岛066004;2. 燕山大学先进锻压成形技术与科学教育部重点实验室秦皇岛066004 |
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| 基金项目： | 国家重点基础研究发展计划课题(2013CB733000)、国家自然科学基金(51305383)、教育部高等学校博士学科点专项科研基金(20131333120007)、河北省自然科学基金面上项目（E2015203165）资助 |
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| 摘 要： | 针对航空航天、国防装备等领域对高可靠性六维力传感器的迫切需求,提出将容错设计思想引入六维力传感器研究。比较分析了容错并联式六维力传感器与普通Stewart平台式六维力传感器的可靠性,基于故障树分析法(FTA),建立了容错式传感器系统和普通传感器系统的可靠性数学模型,从容错并联式六维力传感器的设计角度,推导出了测量系统失效率的函数。建立了系统可靠性与传感器冗余度的函数关系,并进行了容错并联式六维力传感器冗余分析,得出测量分支数目,提出了容错六维力传感器构型,研制出了传感器样机。
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| 关 键 词： | 六维力传感器 容错并联结构 可靠性模型 故障树分析法 冗余度 |
Reliability and redundancy analysis of fault tolerantparallel six axis force sensor |
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| Yao Jiantao,Cai Dajun,Zhu Jialong,Xu Yundou,Zhao Yongsheng. Reliability and redundancy analysis of fault tolerantparallel six axis force sensor[J]. Chinese Journal of Scientific Instrument, 2015, 36(8): 1699-1706 |
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| Authors: | Yao Jiantao Cai Dajun Zhu Jialong Xu Yundou Zhao Yongsheng |
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| Affiliation: | 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China;2. Key Laboratory of Advanced Forging & Stamping Technology and Science, Ministry of Education of China,Yanshan University, Qinhuangdao 066004, China |
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| Abstract: | In order to meet the urgent requirement of high reliability of six axis force sensor in the fields of aviation and aerospace, national defense facilities and etc., the fault tolerant design idea is introduced into the six axis force sensor. The reliability of the fault tolerant parallel six axis force sensor and ordinary Stewart platform six axis force sensor is analyzed and compared. Based on the fault tree analysis (FTA) method, the reliability mathematical models of the fault tolerant sensor system and ordinary sensor system were established, and the failure rate function of the measurement system was deduced from the design point of view of the fault tolerant parallel six axis force sensor. The function relation between the system reliability and sensor redundancy was established, the redundancy analysis of the fault tolerant parallel six axis force sensor was conducted, and the number of the measurement branches was obtained. The structure of the fault tolerant six axis force sensor was put forward, and the prototype of the six axis force sensor was also developed. |
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| Keywords: | six axis force sensor fault tolerant parallel mechanism reliability model FTA redundancy |
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