Optimization of Fault-Tolerant Workspace for 7R Redundant Manipulator

被引：0

作者：

Fu T. ^{[1
]}

Zhu Z.-H. ^{[1
]}

Ding H.-S. ^{[1
]}

Zhang Q.-D. ^{[1
]}

机构：

[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing

来源：

Zhu, Zhao-Hui (julian_nash@126.com) | 2017年 / Beijing Institute of Technology卷 / 37期

关键词：

Conversion ratio; Fault-tolerant workspace; Locking range; Redundant manipulator;

D O I：

10.15918/j.tbit1001-0645.2017.09.009

中图分类号：

学科分类号：

摘要：

Optimization of fault-tolerant workspace for a 7R redundant manipulator in the condition of single-joint locking was studied systematically. Firstly, the concept of conversion ratio was introduced based on the change rule of the fault-tolerant workspace volume and the relationship consideration between fault-tolerant workspace and locking workspace. And then the redundant manipulator's fault-tolerant workspace was optimized by determining suitable joint's locking range. The study results show conversion ratio increases initially and decreases afterwards as the locking angle increases by two kinds of value method. Meanwhile, the locking angle of highest conversion ratio is also determined. © 2017, Editorial Department of Transaction of Beijing Institute of Technology. All right reserved.

引用

页码：933 / 936

页数：3

共 4 条

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[3] Yao X.-B., Zhao J., Zhang L., Et al., Study on fault-tolerant workspace for spatial 4R manipulator, Machine Design and Research, 21, 2, pp. 24-27, (2005)
[4] Roberts R.G., Jamisola R.S., Maciejewski A.A., Identifying the failure-tolerant workspace boundaries of a kinematically redundant manipulator, Procecdings of Robotics and Automation, 2007 IEEE International Conference on, pp. 4517-4523, (2007)

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