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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2074/2087
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| Title: | Fault tolerant operation of one dimensional MPBS |
| Authors: | Ramana Murthy, O V
Panda, A K
Mukherjee, S
Kar, I N |
| Keywords: | massively parallel binary system
parallel manipulator
binary actuators
x-axis |
| Issue Date: | 2003 |
| Citation: | TENCON Conference on Convergent Technologies for Asia-Pacific Region, 1, 300 - 304p. |
| Abstract: | A Stewart platform, in its most general form, is a parallel manipulator with six linear actuators, connected to the base and the end-effector with spherical joints. The concept of massively parallel binary system (MPBS) is realized by using legs consisting of a very large number of binary actuators. Current focus is on the design of the one-dimensional MPBS where a set of actuators is connected in parallel to a body along the x-axis only. The paper presents the robustness of a control algorithm for 1D MPBS under the fault condition. It was possible to track a specified trajectory with acceptable performance when some actuators stop functioning in mid-process. |
| URI: | http://eprint.iitd.ac.in/dspace/handle/2074/2087 |
| Appears in Collections: | Electrical Engineering
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| murthyfau2003.pdf | | 56Kb | Adobe PDF | View/Open |
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