A 6-DOF heavy-load parallel manipulator with RFTA and its application

Jianzheng Zhang; Hongnian Yu; Feng Gao; Dan Zhang; Xianchao Zhao; Cunxiang Ma

doi:10.1109/ICRA.2011.5979905

A 6-DOF heavy-load parallel manipulator with RFTA and its application

Jianzheng Zhang, Hongnian Yu, Feng Gao, Dan Zhang, Xianchao Zhao, Cunxiang Ma

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

This paper proposes a 6-DOF (Degree of Freedom) heavy-load parallel manipulator with a redundant actuation and fault-tolerant actuator (RFTA). The novel RFTA model of the proposed manipulator is developed and its working principle is described. In order to achieve the given motion, the mathematic models of the proposed manipulator with the RFTA are derived. As a prototype of an earthquake simulator, two experiments are performed. The experimental results demonstrate that the RFTA is able to supply the required double driving force and appropriate used as an actuator of a low frequency earthquake simulator. The results of the fault-tolerant experiment show the earthquake simulator with the RFTA is capable of tolerating some local faults. The proposed parallel manipulator can also be applied under other heavy-load environments.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	470-475
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5979905
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9 May 2011 → 13 May 2011

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	9/05/11 → 13/05/11

ASJC Scopus subject areas

Software
Control and Systems Engineering
Electrical and Electronic Engineering
Artificial Intelligence

More information

10.1109/ICRA.2011.5979905

Cite this

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title = "A 6-DOF heavy-load parallel manipulator with RFTA and its application",

abstract = "This paper proposes a 6-DOF (Degree of Freedom) heavy-load parallel manipulator with a redundant actuation and fault-tolerant actuator (RFTA). The novel RFTA model of the proposed manipulator is developed and its working principle is described. In order to achieve the given motion, the mathematic models of the proposed manipulator with the RFTA are derived. As a prototype of an earthquake simulator, two experiments are performed. The experimental results demonstrate that the RFTA is able to supply the required double driving force and appropriate used as an actuator of a low frequency earthquake simulator. The results of the fault-tolerant experiment show the earthquake simulator with the RFTA is capable of tolerating some local faults. The proposed parallel manipulator can also be applied under other heavy-load environments.",

author = "Jianzheng Zhang and Hongnian Yu and Feng Gao and Dan Zhang and Xianchao Zhao and Cunxiang Ma",

year = "2011",

doi = "10.1109/ICRA.2011.5979905",

language = "English",

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series = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

Zhang, J, Yu, H, Gao, F, Zhang, D, Zhao, X & Ma, C 2011, A 6-DOF heavy-load parallel manipulator with RFTA and its application. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5979905, Proceedings - IEEE International Conference on Robotics and Automation, pp. 470-475, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5979905

A 6-DOF heavy-load parallel manipulator with RFTA and its application. / Zhang, Jianzheng; Yu, Hongnian; Gao, Feng et al.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 470-475 5979905 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AU - Zhang, Jianzheng

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AU - Gao, Feng

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AU - Zhao, Xianchao

AU - Ma, Cunxiang

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AB - This paper proposes a 6-DOF (Degree of Freedom) heavy-load parallel manipulator with a redundant actuation and fault-tolerant actuator (RFTA). The novel RFTA model of the proposed manipulator is developed and its working principle is described. In order to achieve the given motion, the mathematic models of the proposed manipulator with the RFTA are derived. As a prototype of an earthquake simulator, two experiments are performed. The experimental results demonstrate that the RFTA is able to supply the required double driving force and appropriate used as an actuator of a low frequency earthquake simulator. The results of the fault-tolerant experiment show the earthquake simulator with the RFTA is capable of tolerating some local faults. The proposed parallel manipulator can also be applied under other heavy-load environments.

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A 6-DOF heavy-load parallel manipulator with RFTA and its application

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