期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2018
卷号：7
期号：10
页码：10378-10383
DOI：10.15680/IJIRSET.2018.0710036
出版社：S&S Publications
摘要：This Project presents the elimination of redundancy in 6 DOF planar space robot using the
reconfigurable robots. As we know, space robots are hired to handle extreme conditions in outer space .But this likely
result in collapsing of the robot, because of various failures. Which ultimately inclines us in installation of
reconfigurable robots for them to function with ease. Such Robots are equipped with sensor and actuator .To optimize
the functioning of the robot, at any time, only two joints are actuatable while the rest are held inactive temporarily in
order to prevent the undesired movement through a Proportional Derivative (PD) controller. The implementation of the
inactive joints will happen when the healthy joints get locked due to actuator failure. The proposed reconfigurable
robot can provide much easier and more effective solution to maneuver in a small volume. The results of simulation
and the animation validate two case studies. Each one of those includes motion planning of space robot when one joint
suffers joint locked failure at some stage in manipulation and its reconfiguration. For the dynamic model analysis of the
system and generating the system equations, symbol shaktiBond graph technique has been utilized.
