摘要
分析了一种移动式四足着陆机器人容错能力,当机器人遇到故障,它的行走能力会受到影响,所以分析机器人的容错能力十分重要,运用螺旋理论对四足移动式着陆机器人单腿故障模式进行分析;对单腿故障模式下四足移动式着陆机器人身体容错性能进行分析;最后考虑着陆机器人四条腿综合故障模式对机器人身体容错性能进行分析,得出不同故障条件下机器人腿部和机体的残余运动能力。
In this papaer, the fault tolerance properties of a mobile exploration quadruped lander is analysed. When the robot suffers from failures, its walking ability may be affected. So, analysis of fault tolerance is important. By using theory of Spira, the single leg failure modes of a mobile exploration quadruped lander are analyzed. Under the condition of single leg failure modes, the fault tolerance properties of the robotic body are analyzed. Finally, considering the comprehensive failure modes of four legs, the fault tolerance properties of the robotic body are analyzed and tbe robotic body and leg＇s residual locomotion ability are drew.
出处
《机械设计与研究》
CSCD
北大核心
2016年第5期18-24,共7页
Machine Design And Research
