Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1994.10a
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- Pages.605-610
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- 1994
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- 2005-8446(pISSN)
Optimal Design of Fault-Tolerant Spatial Manipulators
고장에 견디는 공간형 매니퓰레이터의 최적설계
Abstract
Optimal design of fault-tolerant, spatial type maniplators is treated in this paper. Design objective is to guarantte three degree-of-freedom translational motions in the task space, upon failure of one arbitrary joint of 4 degree-of -freedom manipulators. Realizing the nonfault-tolerant characteristics of current, wrist-type industrial manipulators, several 4 degree-of-freedom redundant structures with one joint redundancy are suggested as the fault-tolerant spatial -type manipulators. Fault-tolerant charactersitics are investigated basedon the analysis of the self-motion and the null-space elements, of a redundant manipulator. Finally, in order to maximize the fault-tolerant capability,optimal design is performed for a spatial-type manipulator with respect to the global isotropic index, and the performance enhancement of the optimized case is shown by simulation.