Research Papers

Topology Configuration of Actuator Failure Mode of a Novel Quadruped Robot

[+] Author and Article Information
Jing Wang

State Key Laboratory of Mechanical
System and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 201100, China
e-mail: fwjing@sjtu.edu.cn

Feng Gao

State Key Laboratory of Mechanical
System and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 201100, China
e-mail: fengg@sjtu.edu.cn

Yong Zhang

State Key Laboratory of Mechanical
System and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 201100, China
e-mail: lzyong@sjtu.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received November 11, 2013; final manuscript received July 29, 2014; published online August 13, 2014. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 6(4), 041015 (Aug 13, 2014) (7 pages) Paper No: JMR-13-1229; doi: 10.1115/1.4028151 History: Received November 11, 2013; Revised July 29, 2014

Fault tolerance is an important characteristic of quadruped robots. Actuator failure mode is the basis for research of fault tolerance and motion planning of quadruped robots. In this paper, the combination of actuator failures and the remained end-effector characteristics are investigated based on “GF sets” theory. With intersection operation property in “GF sets,” the remained motion ability can be easily judged. The combination of one and two actuator failures is analyzed in detail and some examples are used to illustrate the method of motion ability analysis. Experiments are carried out on the prototype of a novel quadruped robot and the results show that this method is effective for analysis of fault tolerance of quadruped robots.

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Grahic Jump Location
Fig. 4

(a) and (b) Incidence relation diagram

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Fig. 3

(a) Schematic diagram of leg mechanism-original and (b) leg mechanism-equivalent

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Fig. 2

Leg structure model

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Fig. 1

A quadruped robot named “Baby Elephant”

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Fig. 7

(a)–(d) Remained rotation around axis Rα

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Fig. 8

(a)–(c) Remained rotation around axis Rγ

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Fig. 9

(a)–(e) Remained translation of Tb

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Fig. 10

(a)–(d) Remained translation of Ta and Tc

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Fig. 5

(a) and (b) Workspace of end-effector

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Fig. 6

Schematic diagram of robot mechanism




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