Joint Fault-Tolerant Design of the Chinese Space Robotic Arm

摘要

In this paper, joint reliability design for the Chinese space robotic arm has been discussed. Redundant controller unit, redundant can bus communication unit and latch-up power protection unit have been outlined. The fault tree of the joint has been built. Moreover, the new algorithm of auto-adjust thresholding value has been presented for fault detection, and the fault-tolerant strategies of joint have been proposed. Experimental results demonstrate the effectiveness of the joint fault-tolerant design