ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.4

Zhang, Jianzheng (Shanghai Jiao Tong University), Yu, Hongnian (Staffordshire University), Gao, Feng (Shanghai Jiao Tong University), Zhang, Dan (University of Ontario Institute of Technology), Zhao, Xianchao (Shanghai Jiao Tong University), Ma, Cunxiang (Shanghai Jiao Tong University)

A 6-DOF Heavy-Load Parallel Manipulator with RFTA and Its Applications

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Multi-legged Robots, New Actuators for Robotics, Mechanism Design of Manipulators


This paper proposes a novel 6-DOF (Degree of Freedom) heavy-load parallel manipulator with redundant actuation and fault-tolerant actuator (RFTA). The 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 RFTA are derived. As a prototype of an earthquake simulator, two experiments are performed. The results of the redundant driving force experiment 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 that the earthquake simulator with 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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