Orthogonal gough-stewart platforms with optimal fault tolerant manipulability

Ukidve, C.S.; McInroy, J.E.; Jafari, Farhad

doi:10.1109/robot.2006.1642283

Cited by 9 publications

(27 citation statements)

References 13 publications

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“…This result, written as a slightly different but equivalent expression, was also proven in [13]; however, the proof provided there was based on repeated application of the Binet-Cauchy theorem and was less direct than applying principal minors. It is important to note, however, that the approach just given is not merely a different proof of the result in [13].…”

Section: A Relative Manipulability Indices and The Null Space Of Thementioning

confidence: 81%

“…It is important to note, however, that the approach just given is not merely a different proof of the result in [13]. More importantly, it provides us with an approach that will be used in Section IV to address multiple joint failures.…”

Section: A Relative Manipulability Indices and The Null Space Of Thementioning

confidence: 99%

“…Relative manipulability indices have also been used to study the fault tolerance of redundant Gough-Stewart platforms [13]. A Gough-Stewart platform (GSP) is a parallel mechanism consisting of a base, a moving platform, and struts.…”

Section: Introductionmentioning

confidence: 99%

“…OGSPs are a special class of GSPs that are particularly well-suited to various precision applications owing to the local kinematic and dynamic decoupling of the Cartesian directions they provide [16]. In [13], a class of OGSPs was identified that possess optimal fault tolerant manipulability for single joint failures based on maximizing the minimum relative manipulability index about an operating point.…”

Section: Introductionmentioning

confidence: 99%

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Characterizing optimally fault-tolerant manipulators based on relative manipulability indices

Roberts

Maciejewski

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. In this work, optimality is defined 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 eight degree-of-freedom Gough-Stewart platforms that are optimally fault tolerant for up to two locked joint failures. Examples of optimally faulttolerant seven and eight degree-of-freedom mechanisms are presented.

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Section: A Relative Manipulability Indices and The Null Space Of Thementioning

confidence: 81%

Section: A Relative Manipulability Indices and The Null Space Of Thementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Characterizing optimally fault-tolerant manipulators based on relative manipulability indices

Roberts

Maciejewski

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…The following theorem shows that for a given n and i the sum of squares of j i r over all j is invariant. Consequently, a formulation is developed that determines optimal j i r over all j (Ukidve, McInroy & Jafari, 2006). !…”

Section: Optimal Fault Tolerant Manipulabilitymentioning

confidence: 99%

Quantifying and Optimizing Failure Tolerance of a Class of Parallel Manipulators

Ukidve¹,

McInroy²,

Jafari³

2008

Parallel Manipulators, Towards New Applications

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Appropriate Design of Parallel Manipulators

Merlet

Daney

Smart Devices and Machines for Advanced Manufacturing

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Although parallel structures have found a niche market in many applications such as machine tools, telescope positioning or food packaging, they are not as successful as expected. The main reason of this relative lack of success is that the study and hardware of parallel structures have clearly not reached the same level of completeness than the one of serial structures. Among the main issues that have to be addressed, the design problem is crucial. Indeed, the performances that can be expected from a parallel robot are heavily dependent upon the choice of the mechanical structure and even more from its dimensioning. In this chapter, we show that classical design methodologies are not appropriate for such closed-loop mechanism and examine what alternatives are possible.

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Orthogonal gough-stewart platforms with optimal fault tolerant manipulability

Cited by 9 publications

References 13 publications

Characterizing optimally fault-tolerant manipulators based on relative manipulability indices

Characterizing optimally fault-tolerant manipulators based on relative manipulability indices

Quantifying and Optimizing Failure Tolerance of a Class of Parallel Manipulators

Appropriate Design of Parallel Manipulators

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