文章基本信息

标题：Reconfiguration of Joint Locked Redundant Space Manipulator
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作者：Singirala Navya Sree ; Vijay Kumar Dalla ; Vamshi Kadali 等
期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2018
卷号：7
期号：10
页码：10378-10383
DOI：10.15680/IJIRSET.2018.0710036
出版社：S&S Publications
摘要：This Project presents the elimination of redundancy in 6 DOF planar space robot using the reconfigurable robots. As we know, space robots are hired to handle extreme conditions in outer space .But this likely result in collapsing of the robot, because of various failures. Which ultimately inclines us in installation of reconfigurable robots for them to function with ease. Such Robots are equipped with sensor and actuator .To optimize the functioning of the robot, at any time, only two joints are actuatable while the rest are held inactive temporarily in order to prevent the undesired movement through a Proportional Derivative (PD) controller. The implementation of the inactive joints will happen when the healthy joints get locked due to actuator failure. The proposed reconfigurable robot can provide much easier and more effective solution to maneuver in a small volume. The results of simulation and the animation validate two case studies. Each one of those includes motion planning of space robot when one joint suffers joint locked failure at some stage in manipulation and its reconfiguration. For the dynamic model analysis of the system and generating the system equations, symbol shaktiBond graph technique has been utilized.
关键词：Space robot; reconfiguration; hyper;redundancy; joint locked failure;