Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 13 Issue 4
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- Pages.97-108
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- 1996
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Study on Optimal Design of Fault-Tolerant Spatial Redundant Manipulators
고장에 견디는 공간형 여유자유도 매니퓰래이터의 최적설계에 관한 연구
- Kim, Whee-Kuk ;
- Kim, Dong-Ku ;
- Yi, Byung-Ju
- 김희국 (고려대학교 제어계측공학과) ;
- 김동구 (고려대학교 제어계측공학과) ;
- 이병주 (한양대학교 제어계측공학과)
- Published : 1996.04.01
Abstract
Optimal design of fault-tolerant, spatial type redundant manipulators 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. Noticing the nonfault-tolerant characteristics of current, wrist-type industrial manipulators, five different fault-tolerant spatial-type manipulators which have 4 degree-of-freedom structures with one joint redundancy are suggested. Faault-tolerant character-sitics of two redundant manipulators anr investigated based on the analysis of the self-motion and the null-space elements. 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.