Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
802198 | Mechanism and Machine Theory | 2011 | 12 Pages |
Abstract
In this paper, the failure of parallel manipulators is examined considering the failure modes of manipulators. A methodology for investigating the effect of actuator/joint failures on the force/moment capabilities of manipulators is presented, and the criteria for full and partial recovery from these failures are established. The proposed methodology is valid for both planar and spatial parallel manipulators; in the case study and simulation, the planar manipulators are used as an example.
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Authors
Leila Notash,