On the Mobility and Fault Tolerance of Closed Chain Manipulators with Passive Joints
A systematic analysis of the mobility of closed chain manipulators with passive joints is presented. The main observation in this paper is that the mobility of the manipulator, considering the passive joints only, should always be zero. Further, for the manipulator to be fault tolerant, the mobility...
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| Published in: | Modeling, identification and control Vol. 29; no. 4; pp. 151 - 165 |
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| Main Authors: | , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Kristiansand
Norsk Forening for Automatisering (NFA)
01-01-2008
Norwegian Society of Automatic Control |
| Subjects: | |
| Online Access: | Get full text |
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| Summary: | A systematic analysis of the mobility of closed chain manipulators with passive joints is presented. The main observation in this paper is that the mobility of the manipulator, considering the passive joints only, should always be zero. Further, for the manipulator to be fault tolerant, the mobility should remain zero when actuator failure occurs for an arbitrary joint. We present a simple and rigorous approach to the problem of finding the smallest set of active joints for which the manipulator remains equilibrated with respect to free swinging joint failure in any joint. Several examples of how to choose the active joints for different mechanisms to guarantee that the manipulator is equilibrated and fault tolerant are presented. |
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| ISSN: | 0332-7353 1890-1328 |
| DOI: | 10.4173/mic.2008.4.3 |