In this paper, the four-precision-point geometric design problem of serial-link robot manipulators with three revolute joints is solved using a polynomial continuation method. At each precision point, the end-effector spatial locations are defined. The dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator’s end-effector will be able to reach these fou...

—In this paper, the failure of wire­actuated parallel manipulators is examined considering their failure modes. A methodology for investigating the effect of actuator/wire failures on the force/moment capability of manipulators is presented, and the criteria for full and partial recovery from these failures are established. The methodology is also applicable for the cases that the minimum norm ...

Robotic manipulators mounted on vehicles are being considered for a number of applications. Since the dynamic performance of these systems is affected by the flexibility of their manipulators’ and vehicles’ suspensions, analytical methods are required to model their dynamic behavior. This paper presents an effective method that models such a system’s spatial dynamic behavior by considering the ...

The application of robots in critical missions in hazardous environments requires the development of reliable or fault tolerant manipulators. In this paper, we define fault tolerance as the ability to continue the performance of a task after immobilization of a joint due to failure. Initially, no joint limits are considered, in which case we prove the existence of fault tolerant manipulators an...

In this paper, we deal with two important issues in relation to modular recon gurable manipulators, namely, the determination of the modular assembly con guration optimally suited to perform a speci c task and the synthesis of fault tolerant systems. We present a numerical approach yielding an assembly con guration that satis es four kinematic task requirements: reachability, joint limits, obst...

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...