| Author: | Ramana Murthy, O V; Panda, A K; Mukherjee, S; Kar, I N |
| Advisor: | Advisor |
| Date: | 2003
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| Publisher: | |
| Citation: | TENCON Con
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| Series/Report no.: |
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| Item Type: | Article
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| Keywords: | massively parallel binary system; parallel manipulator; binary actuators; x-axis |
| 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. |
