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Fault tolerance criteria and walking capability analysis of a novel parallel-parallel hexapod break walking robot

Published online by Cambridge University Press:  09 July 2014

Yang Pan ,
Feng Gao  and
Hui Du
Yang Pan*
Affiliation:
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200030, China
Feng Gao
Affiliation:
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200030, China
Hui Du
Affiliation:
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200030, China
*
*Corresponding author. E-mail: py0330@sjtu.edu.cn
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Summary

Fault tolerance is a very important issue for legged robots, especially in some harsh environments. One of the most fragile parts is the actuation system. There are two common faults of robot actuators: (1) the motor is locked and could not move anymore; (2) the motor is uncontrollable and can be treated as a passive joint. In this paper, we first discuss all fault combinations of a single leg of a hexapod walking robot with parallel-parallel mechanism topology. Then, the leg tolerable criterion is brought out, which defines whether a leg is fault tolerant. After that, the fault tolerance of the whole robot is researched, and we found that the robot can walk with one tolerable leg or two opposite tolerable legs. Finally, relative simulation results are given, which show the robot walk with one or two broken legs.

Keywords

Hexapod robotFault toleranceLocked failureUncontrollable failure
Type
Articles
Information
Robotica , Volume 34 , Issue 3 , March 2016 , pp. 619 - 633
Copyright
Copyright © Cambridge University Press 2014 

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