UNIV. NEWS. NORTH-CAUCAS. REG. TECHNICAL SCIENCES SERIES. 2022; 3: 64-70
http://dx.doi.org/10.17213/1560-3644-2022-3-64-70
DYNAMICS OF PARALLEL MECHANISMS WITH IT ACTUATORS PARTIAL FAILURE
Kruglova Tatiana N. – Candidate of the Technical Science, Associate Professor, Department «Mechatronics, Hydraulic and Pneumatic Automations», tatyana.kruglova.02@mail.ru
Abstract
Parallel kinematic structure machines and mechanisms, which have increased rigidity, movement accuracy and load capacity, are gaining more and more popularity. A single drives type and distribution of the load on the actuating elements make it possible to use uniform information and control system and a universal form of the dynamics equations for each link of the actuating mechanism. When controlling manipulators of a parallel structure with six degrees of freedom, the formation of the setting actions is carried out along three linear and term rotational coordinates simultaneously. The movable platform can take on different spatial orientations and at the same time move in the coordinate system of the fixed base. The mechanism is controlled by simultaneously changing the lengths of the linear racks or rotation angles of the rotary actuators. The main condition for their correct functioning is the coordinated operation of all its actuators, which imposes increased requirements on their operational reliability. Failure of part of the drives can cause damage to the entire parallel mechanism. This article provides a solution to the direct and inverse problem of the dynamics of a parallel manipulator with a partial failure of the actuators. Possible correction options are shown in case of malfunctions in the drive system in order to perform a given technological process. The results of experimental studies showing the adequacy of the developed models are presented.
Keywords: parallel kinematic structure mechanism, parallel manipulator, drives systems, partial failure, parallel manipulator dynamics
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