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Mechanical design of an 3R2P Manipulator

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Mechanical design of an 3R2P Manipulator

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dc.contributor.advisor Jing, Zhao es_ES
dc.contributor.author Cubí Sánchez-Guijaldo, Arturo es_ES
dc.date.accessioned 2014-03-11T11:02:24Z
dc.date.available 2014-03-11T11:02:24Z
dc.date.created 2009-07-20
dc.date.issued 2014-03-11
dc.identifier.uri http://hdl.handle.net/10251/36379
dc.description.abstract When one joint of a manipulator fails and is locked, the velocities of remaining joints will produce sudden change. The sudden change of joint velocity in fault tolerant operation of two coordinating manipulators for locked joint failures is studied. First, the difference between the joint velocity of original manipulator and that of reduced manipulator is defined as the sudden change in joint velocity. Then, a corresponding fault tolerant planning algorithm based on this index is proposed. At last, numerical and solid simulations of fault tolerant operations for two spatial 4R manipulators are implemented. Simulation results show that the sudden change greatly affects the motion stability of the manipulators during fault tolerant operations, and the algorithm proposed here can effectively minimize the sudden change, which will lead to a smoother operation and increased motion stability. es_ES
dc.format.extent 26 es_ES
dc.language Inglés es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Spatial redundant manipulator es_ES
dc.subject Coordinating manipulation es_ES
dc.subject Fault tolerance es_ES
dc.subject Sudden change in joint velocity es_ES
dc.subject.other Ingeniería Técnica Industrial, esp. en Mecánica-Enginyeria Tècnica Industrial, esp. En Mecànica es_ES
dc.title Mechanical design of an 3R2P Manipulator es_ES
dc.type Proyecto/Trabajo fin de carrera/grado es_ES
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Politécnica Superior de Alcoy - Escola Politècnica Superior d'Alcoi es_ES
dc.description.bibliographicCitation Cubi Sanchez-Guijaldo, A. (2009). Mechanical design of an 3R2P Manipulator. http://hdl.handle.net/10251/36379. es_ES
dc.description.accrualMethod Archivo delegado es_ES


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