Fault tolerance of parallel manipulator with actuation or structure redundancy

The fault tolerance approaches for actuator fault of parallel manipulator by using actuator redundancy were researched and the fault tolerance approaches with structure redundancy for the joint fault of parallel manipulator were discussed. According to the multiplicity of torque distribution in redundant actuated parallel manipulator, after partial actuator fault happens, the torque re-distribution among remaining working actuators was analyzed to realize fault tolerance. Considering the character of redundant structure parallel manipulator, the way to ensure the completion of task by aborting some structure freedoms was further studied. From kinematic and dynamic perspectives, the character and fault tolerance feasibility of the two types of redundant manipulators were presented. Taking 3-DOF planar parallel manipulator as an example, the kinematic and dynamic performance change of actuator and joint faulted manipulator was respectively stated. Furthermore, data simulating result indicates the feasibility of the fault tolerance with actuator and structure redundancy of parallel manipulator.