Kinematic design of fault tolerant manipulators

Abstract This paper defines the property of kinematic fault tolerance and develops a general constructive proof of the existence of fault tolerant manipulators. After formulating the necessary and sufficient condition for fault tolerance, a planar manipulator with a minimal kinematic structure is designed. A generalization to spatial manipulators, using a numerical approach is formulated. Finally, it is shown how this approach enables us to solve the spatial design problem.

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