Realization of a Fail Tolerant System with a Redundant-NumberActuators by Adaptive and Optimal Load Distribution Method

研究了隔振台作动器故障补偿的力重分配方法。隔振台由相对于工作台运动自由度的冗余数量的致动器支撑。本研究提出了一种利用执行器冗余度进行力重新分配的新方法。当一些执行器发生故障时，通过该方法将其输出力适当地重新分配到未中断的执行器上。因此，本研究实现了一种对执行器故障具有较高容忍度的隔振系统。

Force redistribution method for compensating actuator-breakdown of vibration isolation tables is investigated in this study. The vibration isolation table is supported by a redundant number of actuators with respect to degrees of freedom of table motion. This study proposed a novel force redistributing method which utilizes redundancy of the actuators. When some of the actuators broke down, their output forces were appropriately re-distributed on the unbroken actuators by the proposed method. So, this study achieved a vibration isolation system with high tolerance to actuator breakdown.