Publication

Hanyang University HumanRobotics Lab

Domestic Journal
고장에 견디는 공간형 여유자유도 매니퓰래이터의 최적설계에 관한 연구
Journal
Journal of the Korean Society for Precision Engineering
Vol
Vol. 13, No. 4
Page
PP. 97-108
Author
김희국, 김동구, 이병주
Year
1996
Date
1996.12.25
File
고장에 견디는 공간형 여유자유도 매니퓰래이터의 최적설계에 관한 연구.pdf (479.9K) 1회 다운로드 DATE : 2020-10-16 21:01:56
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. Fault-tolerant charactersitics of two redundant manipulators are 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