Reconfigurable Mechanical Deformation Principle And Control Methods

Nowadays, electro-Mechanical-Products (EMPs) are getting more and more complex, this brings the growing demands on function and performance with simultaneously growing requirements on reliability and safety for EMPs. This paper takes research on technology and methodology for enhancing reliability and safety of mechanical system as the main clue, transformation principle, reconfiguration method and DSP control technology for reconfigurable mechanical system are studied deeply and systemly in this paper.Adjustable mechanism can realize several tasks by changing length of mechanism bars or position of joints, it presents a new idea for fault-tolerant reconfiguration for mechanism. A fault-tolerant reconfigurable spherical five-bar mechanism is studied in this paper. Because it has two DOFs, this spherical five-bar mechanism offers possibility for fault-tolerant. Simulation analysis is conducted for both normal state and fault state, fault-tolerant algorithm for the spherical five-bar mechanism transforming into spherical four-bar mechanism is deduced. Simulation analysis for spherical mechanism after reconfiguration is done, the spherical four-bar mechanism can continue complete the pre-defined task of the spherical five-bar mechanism by changing the length of bars or position of joints.A new wheel-leg type rover is proposed and designed in this paper, this rover can change its structure by reconfiguration of its redundancy joints, and it can move with wheel-mode as well as leg-mode under different road conditions, by changing configuration, the body of the rover can transform in both width direction and height direction in order to adapt different environment. The fault-tolerant strategies for wheel-mode and leg-mode of the rover are discussed, and related reconfiguration algorithms are deduced, virtual prototype is built on ADAMS desktop, and simulation experiments are carried out.A novel hybrid machine tool(HMT) with mechanical system reconfigurable ability is present in this paper, fault-tolerant reconfiguration strategies for HMTs are studied, a novel fault-tolerant reconfiguration approach for mechanical system faults of hybrid machine tools is proposed based on mechanism type transformation, implementation strategy for spherical joints transforming into huke joints is given. Inverse displacement analysis algorithms are deduced for both fault and non-fault status of HMTs, simulation analysis and research are conducted based on ADAMS desktop, self-rotation angle curve as well as joint space trajectory curves for before and after reconfiguration are obtained, simulation results show that the safety and reliability of HMTs can be enhanced utilizing the reconfiguration characteristics of mechanical systemImplementation method for mechanical system reconfiguration based on DSP controller is studied in this paper. Aiming at DC servo motor control of reconfigurable mechanical system, a DSP based PID controller is presented, taking the trajectory tracking control of one driving leg of HMTs as an example, related simulation and experiment researches are conducted.