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Failure recovery for wrench capability of wire-actuated parallel manipulators

Published online by Cambridge University Press:  07 November 2011

Leila Notash
Leila Notash*
Affiliation:
Queen's University, Kingston, Canada
*
*Corresponding author. E-mail: [email protected]
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Summary

Wire-actuated parallel manipulators and their failures are studied in this paper taking into consideration their failure modes. A methodology for investigating the effect of wire/actuator failures on the force/moment capability of manipulators is presented, and the criteria for full and partial recovery from these failures are established. The methodology is also applicable for the cases that the minimum norm solution for the vector of wire tensions gives a negative value for tension by treating the corresponding wire as failed. The proposed criteria are also valid for the manipulators that utilize hybrid actuation of wires and joints. Three planar wire-actuated parallel manipulators are used as the case study to illustrate the proposed methodology and criteria.

Keywords

Failure analysisFailure recoveryWire-actuated parallel manipulators
Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 941 - 950
Copyright
Copyright © Cambridge University Press 2011

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