A methodology for actuator failure recovery in parallel manipulators

作者：Notash Leila^*

来源：Mechanism and Machine Theory, 2011, 46(4): 454-465.

DOI：10.1016/j.mechmachtheory.2010.11.017

• Parallel manipulators
• Failure analysis
• Failure recovery

In this paper, the failure of parallel manipulators is examined considering the failure modes of manipulators. A methodology for investigating the effect of actuator/joint failures on the force/moment capabilities of manipulators is presented, and the criteria for full and partial recovery from these failures are established. The proposed methodology is valid for both planar and spatial parallel manipulators; in the case study and simulation, the planar manipulators are used as an example.

• 出版日期2011-4