面向容错特性的高可靠性冗余并联六维力传感器研究

In order to meet the urgent need of high-reliability six-axis force in field of aerospace and national defense, the concept of redundancy and fault-tolerance is introduced to the parallel six-axis force sensor in this project. By combining mechanism modeling, theoretical design and application experiment, the theoretical system of redundant parallel six-axis force sensor oriented fault-tolerant characteristic will be constructed. Based on the thought of total stiffness analysis and displacement compatibility, the mechanical mapping characteristics and inherent laws of the redundant parallel six-axis force sensor will be revealed from the view of fault-tolerant measurement. Through the reliability theory and synthesis method of the parallel mechanism, the mechanism selection and elastic body innovation design of the fault-tolerant sensor oriented to high reliability requirement will be studied. Considering redundancy and fault-tolerant properties comprehensively, the evaluation indices quantified and characterized the sensor physical performance will be proposed and the optimal design method will be built with multi-level optimal strategy. The solving scheme for the key technology problems of the fault-tolerant sensor will be put forward and the prototype of the sensor will be manufactured. Based on the proposed fault diagnosis and restructing algorithm, the fault-tolerant data acquisition and measurement system will be developed. The calibration and application experiments will be carried out. According to the research, a new direction for the application of redundant parallel mechanism will be opened up, the design theory of parallel six-axis force sensor will be expanded and deepen, the theoretical and technology basis for the development of the high reliability six-axis force measurement system will be provided.

面向航天、国防等领域对高可靠性六维力传感器的迫切需求，本项目提出将冗余、容错理念引入并联六维力传感器及其系统，通过机理建模、理论分析和应用实验相结合的途径，构建面向容错特性的冗余并联六维力传感器理论体系。基于解析整体刚度和位移协调的思想，从容错测量角度揭示冗余并联六维力传感器结构的力学映射特性和内在规律；融合可靠度理论和并联机构型综合方法，开展适于高可靠性要求的容错式并联力传感器机构选型及弹性体创新设计；综合考虑冗余与容错特性，提出能够量化描述、表征传感器物理性能的评价指标，并采用多级优化策略建立容错式传感器优化设计方法；提出容错式传感器关键技术的解决方案，研制传感器样机，研究故障诊断和模型重构算法，开发容错式信号采集及测量系统，进行标定和应用实验研究。研究内容将为冗余并联机构的应用开辟新方向，拓展和深化并联六维力传感器设计理论，为开发高可靠性六分力测试系统提供重要的理论依据和技术基础。

面向复杂、苛刻环境的高可靠性需求，研制具备容错特性的六维力传感器对于我国航天、国防等领域六分力测试技术水平的提高具有重要意义。面向容错特性进行并联六维力传感器研究，不仅重视如何进行冗余设计，也重视故障后的容错性能，是冗余设计的拓展和深化。本项目将容错理念融入并贯穿于构型综合、机理建模、性能优化、标定测试和应用实验全过程。基于可靠度和冗余优化模型，从实现高可靠性的角度进行冗余并联六维力传感器机构构型综合与优选，为高可靠性六维力传感器结构设计提供了新思路。基于整体刚度和位移协调思想，从实现容错测量的角度对冗余超静定并联六维力传感器结构力学映射关系的求解，从新的视角揭示了冗余并联机构的力学特性。结合传感器物理意义，对冗余、容错分项性能指标的研究和提出，以及在此基础上提出的综合考虑冗余、容错特性的多级优化策略，为冗余并联力传感器的尺寸综合和位形优化提供了新途径。研制了预紧容错式六维力传感器、共用复合铰链容错式六维力传感器、柔性一体化容错并联六维力传感器三种传感器样机，设计并开发出故障识别与模型重构算法，搭建了容错并联六维力传感器标定系统与应用实验系统，完成了传感器标定测试、曲面跟踪、轴孔装配等应用实验，从结构容错和容错测量、控制策略两方面综合提高了并联六维力传感器的可靠性，形成了一套面向容错特性并联六维力传感器设计理论与关键技术解决方案。面向容错特性的冗余并联六维力传感器机理建模、构型综合、性能评价和设计方法等理论问题的解决和实际系统的搭建，拓展和深化了并联六维力传感器的设计理论，为高可靠性容错式六维力传感器的设计与系统开发提供了重要的理论依据和技术基础，同时将为冗余并联机构的应用开辟新方向。

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