Fault diagnosis and reconstruction model of pre-stressed fault-tolerant six-axis force sensor

• 1、College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei066004

Abstract：Aimed at one pre-stressed fault-tolerant six-axis force sensor, measurement model, fault diagnosis, fault branch identification, and reconstruction model are thoroughly analyzed and researched. Compared with the traditional Stewart structure six-axis force sensor, the pre-stressed fault-tolerant six-axis force sensor has the property of the fault-tolerant. With screw theory and deformation coordination, the mathematic models including fault-free mathematic model and signal fault mathematic model are established. On this basis, a method for fault diagnosis is proposed according the uniqueness of jacobian matrix; The method of fault branch identification for pre-stressed fault-tolerant six-axis force sensor is got and verified by experiments. Moreover, reconstruction idea for sensor is put forward. With the Labview, the program of fault diagnosis and reconstruction model are designed.The research lays a theoretical and experimental foundation for the application of the fault-tolerant six-axis force sensor．

Keywords： sensor technology six-axis force sensor fault diagnosis reconstruction model