Optimization of Fault-Tolerant Workspace for 7R Redundant Manipulator

Tie Fu; Zhao Hui Zhu; Hong Sheng Ding; Qing Dong Zhang

doi:10.15918/j.tbit1001-0645.2017.09.009

Optimization of Fault-Tolerant Workspace for 7R Redundant Manipulator

Tie Fu
, Zhao Hui Zhu^*
, Hong Sheng Ding
, Qing Dong Zhang

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	933-936
Number of pages	4
Journal	Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
Volume	37
Issue number	9
DOIs	https://doi.org/10.15918/j.tbit1001-0645.2017.09.009
Publication status	Published - 1 Sept 2017

Keywords

Conversion ratio
Fault-tolerant workspace
Locking range
Redundant manipulator

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10.15918/j.tbit1001-0645.2017.09.009

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title = "Optimization of Fault-Tolerant Workspace for 7R Redundant Manipulator",

abstract = "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.",

keywords = "Conversion ratio, Fault-tolerant workspace, Locking range, Redundant manipulator",

author = "Tie Fu and Zhu, \{Zhao Hui\} and Ding, \{Hong Sheng\} and Zhang, \{Qing Dong\}",

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AU - Fu, Tie

AU - Zhu, Zhao Hui

AU - Ding, Hong Sheng

AU - Zhang, Qing Dong

PY - 2017/9/1

Y1 - 2017/9/1

N2 - 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.

AB - 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.

KW - Conversion ratio

KW - Fault-tolerant workspace

KW - Locking range

KW - Redundant manipulator

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JF - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology

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ER -

Optimization of Fault-Tolerant Workspace for 7R Redundant Manipulator

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Keywords

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