Robots designed for space applications, deep sea applications, handling of hazardous material and surgery should ideally be able to handle as many potential faults as possible. This paper provides novel indices for fault tolerance analysis of redundantly actuated parallel robots. Such robots have the potential for higher accuracy, improved stiffness, and higher acceleration compared to similar-sized serial robots. The faults considered are free-swinging joint failures (FSJFs), defined as a software or hardware fault, preventing the administration of actuator torque on a joint. However, for a large range of robots, the proposed indices are applicable also to faults corresponding to the disappearance of a kinematic chain, for example, a breakage. Most existing fault tolerance indices provide a ratio between a robot's performance after the fault and the performance before the fault. In contrast, the indices proposed in this paper provide absolute measures of a robot's performance under the worst-case faults. The proposed indices are based on two recently introduced metrics for motion/force transmission analysis of parallel robots. Their main advantage is their applicability to parallel robots with arbitrary degrees-of–freedom (DOF), along with their intuitive geometric interpretation. The feasibility of the proposed indices is demonstrated through application on a redundantly actuated planar parallel mechanism.
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April 2017
Research-Article
Novel Fault-Tolerance Indices for Redundantly Actuated Parallel Robots
Mats Isaksson,
Mats Isaksson
Electrical and Computer Engineering Department,
Colorado State University,
Fort Collins, CO 80523
e-mail: mats.isaksson@gmail.com
Colorado State University,
Fort Collins, CO 80523
e-mail: mats.isaksson@gmail.com
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Kristan Marlow,
Kristan Marlow
Institute for Intelligent Systems
Research and Innovation,
Deakin University,
Waurn Ponds Campus,
Geelong, VIC 3217, Australia
e-mail: kristan.marlow@gmail.com
Research and Innovation,
Deakin University,
Waurn Ponds Campus,
Geelong, VIC 3217, Australia
e-mail: kristan.marlow@gmail.com
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Anthony Maciejewski,
Anthony Maciejewski
Electrical and Computer Engineering Department,
Colorado State University,
Fort Collins, CO 80523
e-mail: aam@engr.colostate.edu
Colorado State University,
Fort Collins, CO 80523
e-mail: aam@engr.colostate.edu
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Anders Eriksson
Anders Eriksson
School of Electrical Engineering and
Computer Science,
Queensland University of Technology,
GPO Box 2434,
Brisbane, QLD 4001 Australia
e-mail: anders.eriksson@qut.edu.au
Computer Science,
Queensland University of Technology,
GPO Box 2434,
Brisbane, QLD 4001 Australia
e-mail: anders.eriksson@qut.edu.au
Search for other works by this author on:
Mats Isaksson
Electrical and Computer Engineering Department,
Colorado State University,
Fort Collins, CO 80523
e-mail: mats.isaksson@gmail.com
Colorado State University,
Fort Collins, CO 80523
e-mail: mats.isaksson@gmail.com
Kristan Marlow
Institute for Intelligent Systems
Research and Innovation,
Deakin University,
Waurn Ponds Campus,
Geelong, VIC 3217, Australia
e-mail: kristan.marlow@gmail.com
Research and Innovation,
Deakin University,
Waurn Ponds Campus,
Geelong, VIC 3217, Australia
e-mail: kristan.marlow@gmail.com
Anthony Maciejewski
Electrical and Computer Engineering Department,
Colorado State University,
Fort Collins, CO 80523
e-mail: aam@engr.colostate.edu
Colorado State University,
Fort Collins, CO 80523
e-mail: aam@engr.colostate.edu
Anders Eriksson
School of Electrical Engineering and
Computer Science,
Queensland University of Technology,
GPO Box 2434,
Brisbane, QLD 4001 Australia
e-mail: anders.eriksson@qut.edu.au
Computer Science,
Queensland University of Technology,
GPO Box 2434,
Brisbane, QLD 4001 Australia
e-mail: anders.eriksson@qut.edu.au
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 13, 2016; final manuscript received December 15, 2016; published online January 31, 2017. Assoc. Editor: Oscar Altuzarra.
J. Mech. Des. Apr 2017, 139(4): 042301 (10 pages)
Published Online: January 31, 2017
Article history
Received:
July 13, 2016
Revised:
December 15, 2016
Citation
Isaksson, M., Marlow, K., Maciejewski, A., and Eriksson, A. (January 31, 2017). "Novel Fault-Tolerance Indices for Redundantly Actuated Parallel Robots." ASME. J. Mech. Des. April 2017; 139(4): 042301. https://doi.org/10.1115/1.4035587
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