Comparison of Workspace Reduction Between Kinematically Redundant Serial and Parallel Manipulators Under Joint Failures

Abstract

The purpose of this study is to do a basic evaluation of the usefulness of various kinematically redundant planar manipulators when a seizure of an actuated joint results in the loss of a degree of freedom. Two serial (single kinematic chain) manipulators, one planar parallel kinematic machine (PKM), and one spatial PKM are considered. This study involves only kinematics and uses the size of the reduced workspace under a joint failure as a measure of a manipulator's useful redundancy.

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Document Details

Document Type
Technical Report
Publication Date
Mar 07, 2011
Accession Number
ADA578919

Entities

People

  • Brandon Moore

Organizations

  • University of Michigan

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Collisions
  • Controlled Environment
  • Equations
  • Histograms
  • Information Operations
  • Joints
  • Kinematics
  • Manipulators
  • Mechanics
  • Numerical Analysis
  • Orientation (Direction)
  • Platforms
  • Quadrants
  • Redundancy
  • Robots
  • Test And Evaluation
  • Universal Joints

Readers

  • Robotics and Automation.