Design modification of parallel manipulators for optimum fault tolerance to joint jam

被引：24

作者：

Hassan, M ^{[1
]}

Notash, L ^{[1
]}

机构：

[1] Queens Univ, Dept Mech & Mat Engn, Kingston, ON K7L 3N6, Canada

来源：

MECHANISM AND MACHINE THEORY | 2005年 / 40卷 / 05期

关键词：

parallel robot manipulators; mechanisms; joint jam (lock); failure; fault tolerance;

D O I：

10.1016/j.mechmachtheory.2004.11.001

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Fault tolerant manipulators are capable of completing their critical tasks after encountering failure. In this study, modification of parallel manipulators to achieve fault tolerance to active joint jam (lock) was performed by equipping each branch with a backup revolute joint at a pre-assigned location. Upon the detection of failure of an active joint in a branch, the actuation was switched from the failed active joint to the backup joint in the branch. The optimum axis directions of the backup joints were successfully determined from maximizing the manipulability after failure using Lagrange multiplier optimization method. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：559 / 577

页数：19

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