Orthogonal gough-stewart platforms for micromanipulation

Jafari, Farhad; McInroy, J.E.

doi:10.1109/tra.2003.814506

Cited by 37 publications

(19 citation statements)

References 28 publications

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“…If M T M is a diagonal matrix, then one says that the mechanism is an orthogonal GSP (OGSP) [32]- [34]. OGSPs are a special class of GSPs that are particularly well suited to various precision applications due to the local kinematic and dynamic decoupling of the Cartesian directions they provide [35], [36]. The concept of an OGSP is related to the concept of isotropy [37], [38].…”

Section: Fundamental Limitations On Designing Optimallymentioning

confidence: 99%

Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators

Roberts

Maciejewski

2008

IEEE Trans. Robot.

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Abstract-In this paper, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. Optimality is defined here in terms of the worst-case relative manipulability index. While this approach is applicable to both serial and parallel mechanisms, it is especially applicable to parallel mechanisms with a limited workspace. It is shown that a previously derived inequality for the worst-case relative manipulability index is generally not achieved for fully spatial manipulators and that the concept of optimal fault tolerance to multiple failures is more subtle than previously indicated. Lastly, the authors identify the class of 8-DOF Gough-Stewart platforms that are optimally fault tolerant for up to two joint failures. Examples of optimally fault-tolerant 7-and 8-DOF mechanisms are presented.

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Section: Fundamental Limitations On Designing Optimallymentioning

confidence: 99%

Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators

Roberts

Maciejewski

2008

IEEE Trans. Robot.

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“…Since the geometry of these two manipulators contains a relatively high number of joints, their use is potentially beneficial mainly in such applications with limited joints' mobility [40], where compliant solutions (e.g. the joint of Fig.…”

Section: An Effective Solutionmentioning

confidence: 99%

A new isotropic and decoupled 6-DoF parallel manipulator

Legnani

Fassi²,

Giberti

et al. 2012

Mechanism and Machine Theory

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“…A large body of work on fault-tolerant manipulators has focused on the properties of kinematically redundant robots, both in serial or parallel form [22][23][24][25][26][27][28]. These analyses have been performed both on the local properties associated with the manipulator Jacobian [29][30][31][32] as well as the global characteristics such as the resulting workspace following a particular failure [33][34][35][36].…”

Section: Introductionmentioning

confidence: 99%

An Illustration of Generating Robots from Optimal Fault-Tolerant Jacobians

Ben-Gharbia¹,

Maciejewski²,

Roberts³

2010

IASTED Technology Conferences / 705: ARP / 706: RA / 707: NANA / 728: CompBIO

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The local kinematic properties of a robotic manipulator's configuration can be described by its corresponding Jacobian matrix. Conversely, one can determine a manipulator that possesses certain desirable kinematic properties by specifying the required Jacobian. In this work, design criteria that require a manipulator to function in a configuration that is optimal under normal operation and after an arbitrary single joint fails and is locked in position is first described. Specifically, the desired Jacobian matrix must be isotropic, i.e., possess all equal singular values prior to a failure, and have equal minimum singular values for every possible single column being removed. Then a simple planar three degree-of-freedom example is used to illustrate how one can identify all of the possible manipulator designs that possess the desired local properties described by the required structure of the Jacobian matrix. This paper concludes by showing that despite having identical local properties, the resulting manipulator designs have significantly different global kinematic properties that can be used to match a design to additional application-specific performance criteria.

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Orthogonal gough-stewart platforms for micromanipulation

Cited by 37 publications

References 28 publications

Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators

Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators

A new isotropic and decoupled 6-DoF parallel manipulator

An Illustration of Generating Robots from Optimal Fault-Tolerant Jacobians

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