“On the Mobility and Fault Tolerance of Closed Chain Manipulators with Passive Joints”
Authors: Pål J. From and Jan T. Gravdahl,Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 2008, Vol 29, No 4, pp. 151-165.
Keywords: Robotics, kinematics, mobility, fault tolerance
Abstract: 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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DOI: 10.4173/mic.2008.4.3DOI forward links to this article:
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| [2] Cong Dung Pham, Pål Johan From and Jan Tommy Gravdahl (2014), doi:10.4236/am.2014.516247 |
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| [6] Lars Grimstad, Marco F.S. Xaud, Antonio C. Leite and Pål J. From (2017), doi:10.1016/j.ifacol.2017.08.1811 |
| [7] Mehul M Gor, PM Pathak, AK Samantaray, Jung Ming Yang and SW Kwak (2017), doi:10.1177/0959651817743410 |
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| [9] Pål Johan From, Cong Dung Pham and Jan Tommy Gravdahl (2014), doi:10.1002/pamm.201410027 |
| [10] Adrian Peidro, Pedro David Perez-Navarro, Rafael Puerto, Luis Paya and Oscar Reinoso (2023), doi:10.1016/j.mechmachtheory.2023.105403 |
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BibTeX:
@article{MIC-2008-4-3,
title={{On the Mobility and Fault Tolerance of Closed Chain Manipulators with Passive Joints}},
author={From, Pål J. and Gravdahl, Jan T.},
journal={Modeling, Identification and Control},
volume={29},
number={4},
pages={151--165},
year={2008},
doi={10.4173/mic.2008.4.3},
publisher={Norwegian Society of Automatic Control}
};