On the design of fault tolerant parallel manipulators

A methodology for actuator failure recovery in parallel manipulators

“…Considering the mechanical system, parallel manipulators could fail because of the failure of a link (link breakage or undesired flexibility of link) and/or failure of a joint (joint breakage, joint jam, sensor failure, actuator failure and transmission failure). These failures could result in the loss of DOF, loss of actuation, and loss of motion constraint; in addition to loss of information, please refer to [5] for detailed discussion.…”

“…In [4] post-failure recovery from the full or partial loss of actuator torque in the closed-loop manipulators was investigated; utilizing actuation redundancy to compensate for the lost torque and modifying the task time to reduce the overall actuator torque requirement. In [5] the failure mode and effect analysis was performed to study the failure modes of parallel manipulators with their effects on the degree of freedom (DOF), actuation and constraint. Redundancy types, such as redundant DOF, redundant sensing, redundant actuation and redundant legs/branches, have been suggested for fault tolerant designs.…”

Reliability maps for probabilistic guarantees of task motion for robotic manipulators

“…fault analysis and fault-tolerant motion planning or faulttolerant controllers) or the design of the manipulators (e.g. fault-tolerant serial 15 manipulator or parallel manipulators [10][11][12][13][14]). Within the literature of the faulttolerant control of manipulators, various subjects such as failure analysis, fault detection, fault isolation, fault identification, and fault accommodation of the manipulators are studied [15][16][17].…”

Fault detection on robot manipulators using artificial neural networks

“…Another investigation, Notash and Huang presented methodologies for the design of fault tolerant parallel manipulators based on the failure analysis of manipulators and optimum fault tolerant configuration of each class was identified [11]. A strategy of fault tolerant tripod gait was proposed by Yang and a periodic gait was presented, in which hexapod walking machines have the maximum stride length after a locked failure.…”