MOTION RECOVERY OF PARALLEL MANIPULATORS USING GENERALIZED INVERSE AND PARTITIONED JACOBIAN MATRIX
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2013, Vol 58, Issue 1
Abstract
In this paper, the motion recovery of parallel manipulators due to joint failure is addressed. The failed joints have either zero velocities, locked joints, or nonzero velocities which are different from the desired velocities. For the Jacobian matrix of the failed leg, its generalized inverse, which satisfies the first, second, and fourth equations among four equations of Penrose, is utilized to characterize the minimum norm of the correctional velocity vector related to the healthy joints. The platform twist is fully recovered if the Jacobian matrix of the failed leg is of full rowrank or if the platform twist is in the range space of the Jacobian matrix of the failed leg. When the platform twist is in the orthogonal complement of the range space of the Jacobian matrix of the failed leg, or when the Jacobian matrix of the failed leg is not of full row-rank, the partial recovery of the platform twist is achieved using the partitioned Jacobian matrix, while the correctional joint velocity after the failure is minimized.
Authors and Affiliations
VAHID NAZARI, LEILA NOTASH
Keywords
Related Articles
- EP ID EP179089
- DOI -
- Views 85
- Downloads 0
STOCHASTIC LINEARIZATION OF SYSTEMS WITH HYSTERETIC CHARACTERISTICS
In this paper is presented a linearization method for a stochastic differential system with hysteretic characteristics and random excitation. The Gaussian equivalent linearization technique is applied to a system with hy...
ESTIMATION OF OUT OF PLANE SHEAR MODULI FOR HONEYCOMB CORES WITH MODAL FINITE ELEMENT ANALYSES
The main problem in analyzing honeycomb structures is the substantial computational effort that has to be spent in modelling and analyzing such a structure with a multi-cell construction core by maintaining the actual ge...
COMBINED XFEM-COHESIVE FINITE ELEMENT ANALYSES OF SINGLE-LAP JOINTS
Cohesive Zone Modelling (CZM) and eXtended Finite Element Modelling (XFEM) available in Abaqus® are used together to simulate the behaviour and strength of a single-lap adhesively bonded joint. A distinct CZM model is al...
AN ANALYSIS OF THE STORM DYNAMICS IN THE BLACK SEA
The main objective of the present work is to analyze the storm dynamics in the Black Sea. A numerical wave model has been implemented and validated in the entire sea basin, including also the Sea of Azov. The wave model...
REACTION FORCES IN PARALLEL MECHANISM PAIRS
To calculate the links dimensions of a parallel mechanism, is necessary to determine the distribution of forces from its kinematic pairs. Also, the performance of such a mechanism can be evaluated after calculating the d...