Orthogonal Gough-Stewart platforms with optimal fault tolerant manipulability

Chinmay S. Ukidve, John E. McInroy, Farhad Jafari

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

For any manipulator, fault tolerance is a desirable property. This paper shows that for any serial or parallel manipulator functioning about a single point in its workspace, the mean square of the relative manipulabilities over all possible failures, with a given number of links failing at a time, is always constant irrespective of the geometry of the manipulator. In this paper optimal fault tolerant manipulability is defined for parallel manipulators. This concept is applied to Orthogonal Gough-Stewart Platforms (OGSPs) to identify a class of symmetric OGSPs having optimal fault tolerant manipulability. As an example, an 8-strut OGSP having this property is described.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3801-3806
Number of pages6
DOIs
StatePublished - Dec 27 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

Keywords

  • Fault tolerance
  • Gough-Stewart platforms
  • Robot kinematics

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