Design of Redundant Manipulator System for Water Injection of EMU Train

Robots are known as "the Pearl at the top of the crown of manufacturing." As the most common kind of robot, the multi-degree-of-freedom manipulator has its reliability, lightweight, integration, and modularization, which are the focus of researchers. Based on the background of injecting water into the EMU train, this paper uses the water feeding manipulator (WFM) to completely replace the manual operation and researches the key technology of the redundant manipulator system. At the component level, a new type of planetary thread roller bearing (PTRB) is used as the main bearing component of the manipulators’ joint. For joint, two integrated joint modules (IJM) are developed based on PTRB to be an option for IJM with a high power-weight ratio and high reliability. Finally, for the system, according to the fault-tolerant performance requirements of the task point, the redundant manipulator system architecture is proposed, the mechanical body is set as the redundant structure, the driver and controller are dynamically reconstructed, and the control algorithm and fault diagnosis are fault-tolerant. The failure rate is 3.257×10-8/h, laying the foundation for the realization of a fully automatic and intelligent train water supply.