A methodology for actuator failure recovery in parallel manipulators

Abstract In this paper, the failure of parallel manipulators is examined considering the failure modes of manipulators. A methodology for investigating the effect of actuator/joint failures on the force/moment capabilities of manipulators is presented, and the criteria for full and partial recovery from these failures are established. The proposed methodology is valid for both planar and spatial parallel manipulators; in the case study and simulation, the planar manipulators are used as an example.

[1]  Leila Notash,et al.  Forward displacement analysis and uncertainty configurations of parallel manipulators with a redundant branch , 1996 .

[2]  Li Huang,et al.  On the design of fault tolerant parallel manipulators , 2003 .

[3]  Leila Notash,et al.  FIXTURELESS CALIBRATION OF PARALLEL MANIPULATORS , 1997 .

[4]  Leila Notash.  Uncertainty configurations of parallel manipulators , 1998 .

[5]  Keith L. Doty,et al.  A Theory of Generalized Inverses Applied to Robotics , 1993, Int. J. Robotics Res..

[6]  Leila Notash.  Joint sensor fault detection for fault tolerant parallel manipulators , 2000 .

[7]  Anthony A. Maciejewski,et al.  Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators , 2008, IEEE Transactions on Robotics.

[8]  Yoshihiko Nakamura,et al.  Advanced robotics - redundancy and optimization , 1990 .

[9]  Zhao Jing,et al.  On the joint velocity jump during fault tolerant operations for manipulators with multiple degrees of redundancy , 2009 .

[10]  Leila Notash,et al.  Optimizing fault tolerance to joint jam in the design of parallel robot manipulators , 2007 .

[11]  Leila Notash,et al.  On the forward displacement problem of three-branch parallel manipulators , 1995 .

[12]  Anthony A. Maciejewski,et al.  Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators , 2011, Robotica.

[13]  Yixin Chen,et al.  Optimal, fault-tolerant mappings to achieve secondary goals without compromising primary performance , 2003, IEEE Trans. Robotics Autom..

[14]  Leila Notash,et al.  Complete forward displacement solutions for a class of three-branch parallel manipulators , 1994, J. Field Robotics.

[15]  Yung Ting,et al.  Torque redistribution and time regulation methods for actuator of fault-tolerant parallel robots , 1995, J. Field Robotics.