Design modification of parallel manipulators for optimum fault tolerance to joint jam

Hassan, Mahir; Notash, Leila

doi:10.1016/j.mechmachtheory.2004.11.001

Cited by 31 publications

(18 citation statements)

References 10 publications

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“…Later, Mahir Hassan and Leila Notash applied a method based on the Jacobian matrix to determine the joint tolerance which satisfies both economic and technology objectives. In this work, the type and the potential locations of the redundant backup joints are assumed to be pre-identified and their axes directions are identified by employing the Lagrange multiplier optimization method [42]. This solution therefore can be applied only to the fully actuated robot but the parallel robot where the tolerances of several passive joints cannot be solved by this solution.…”

Section: Literature Reviewmentioning

confidence: 99%

Tolerance Design of Robot Parameters Using Generalized Reduced Gradient Algorithm

Trung¹,

Li²,

Long³

2017

IJMMM

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Abstract-In robot design, how to allocate tolerances for parts in manufacturing and assembling of robot is very important because this directly affects product quality and manufacturing cost. This paper introduces a technique using the Generalized Reduced Gradient algorithm optimization to allocate tolerances into robot parts. This method consists of three steps. First, based on the particular structure of robot, various methods are considered before the best method suitable for modeling the associated equation is chosen. Then, a mathematical model for tolerance allocation is formulated and transferred into the non-linear multi-variable optimization problem. Finally, this optimization problem is solved by using the Generalized Reduced Gradient algorithm. Two examples are used to verify the feasibility of the proposed method; the accuracy and effectiveness of the proposed method in producing the tolerance allocations is also illustrated via calculation and simulation results.

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Section: Literature Reviewmentioning

confidence: 99%

Tolerance Design of Robot Parameters Using Generalized Reduced Gradient Algorithm

Trung¹,

Li²,

Long³

2017

IJMMM

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“…The direct kinematics problem is, however, easier in cooperative manipulators because all joints are assumed to be equipped with sensors. The problem of fault tolerance in parallel manipulators is still addressed in (Hassan and Notash, 2004) and (Hassan and Notash, 2005).…”

Section: Incorrectly Measured Joint Position Faults (Jpfs)mentioning

confidence: 99%

A fault detection and isolation system for cooperative manipulators

Tinós

Terra

2008

Sba Controle & Automação

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The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamics of the fault-free robot. The outputs of each MLP are compared to the actual joint velocities in order to generate a residual vector which is then classified by an RBF network. The remaining faults are isolated based on the kinematic constraints imposed on the cooperative system. Results obtained via simulations and via an actual cooperative manipulator robot are presented.

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“…To have better kinematic characteristics, the kinematic parameters with higher sensitivity need to be found and controlled strictly. Hassan analyzed the sensitivity of the 3-UPU parallel manipulator, and found that some mechanical parts, such as U joints, have relatively higher sensitivity [7].…”

Section: Introductionmentioning

confidence: 99%

Sensitivity analysis and kinematic calibration of 3-UCR symmetrical parallel robot leg

2011

J Mech Sci Technol

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Based on the complete differential-coefficient theory, the model of the pose errors expressed by the Rodrigues Parameters was established. By normalizing all error sources, the statistical model of sensitivity coefficients was obtained. Considering the sensitivity percentages, a kinematic calibration model with the successive approximation algorithm was achieved. The simulation shows that the algorithm is effective to study the calibration question and has concrete directivity, reducing the kinematic errors with high sensitivity percentage when optimizing iteratively.

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Design modification of parallel manipulators for optimum fault tolerance to joint jam

Cited by 31 publications

References 10 publications

Tolerance Design of Robot Parameters Using Generalized Reduced Gradient Algorithm

Tolerance Design of Robot Parameters Using Generalized Reduced Gradient Algorithm

A fault detection and isolation system for cooperative manipulators

Sensitivity analysis and kinematic calibration of 3-UCR symmetrical parallel robot leg

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