Estimating the Probability of Failures of a 3RRR Manipulator Using a Metamodel

Author(s)

Vieira, Hiparco Lins ; da Silva, Maira M. ; Corves, B ; Wenger, P ; Husing, M

• Document type: Journal article
• Source: PROCEEDINGS OF THE 7TH EUROPEAN CONFERENCE ON MECHANISM SCIENCE, EUCOMES 2018; v. 59, p. 8-pg., 2019-01-01.

Abstract

Parallel manipulators are known to provide greater dynamic performance and precision than serial manipulators. In contrast, the former have singularities within their workspace. Consequently, techniques are required to keep the manipulator away from the singularities. However, the location of singularities may be unavailable. In cases where the uncertainties of the system are taken into account, the exact location of the singularities is undetermined. This represents, in fact, a risk of failure for the manipulator, since it may accidentally assume a singular configuration. This paper tackles this problem. A method is presented to determine the configurations that provide a greater risk of failure. Additionally, it estimates the manipulator's probabilities of failure. Initially, these probabilities are determined for specific configurations of the manipulator's workspace. These values are used to design a metamodel in order to estimate the probabilities of failure for the entire workspace. The metamodel provides information that can be used to avoid configurations with considerable risks of failure. As a case study, a 3RRR manipulator is analyzed. (AU)

• FAPESP's process: 14/01809-0 - Towards high speed planar robotic manipulators, Phase I: kinematic redundancy
• Grantee: Maira Martins da Silva
• Support Opportunities: Regular Research Grants