MOTION RECOVERY AFTER JOINT FAILURE IN PARALLEL MANIPULATORS

In this paper, the failure of parallel manipulators is investigated. Failure modes of parallel manipulators and their causes and effects from the kinematics point of view are discussed. Methodologies for investigating the effect of failures, due to joint failure or singularity, on the motion performance of manipulators are presented, and the criteria for full and partial recovery from these failures are established. The proposed methodologies are based on the projection of the lost motion onto the orthogonal complement of the null space of the Jacobian matrix after failure. The procedure is simulated for planar parallel manipulators to examine if after joint failure the required motion of manipulator could be fully recovered; as well as to calculate the corrections to the motion of remaining joints for recovering the lost motion.

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