Abstract: A systematic analysis of the mobility of closed chain manipulators with passive joints is given. The main observation presented in this paper is that the mobility of the manipulator, considering the passive joints only, should always be zero. Further, for the manipulator to be fault tolerant, the mobility should remain zero when actuator failure occurs for an arbitrary joint. We present a simple approach to the problem of finding the smallest set of active joints for which the manipulator remains equilibrated with respect to free swinging joint failure in any joint. 1
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