Manipulation devices with redundancy and failure-safety

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Existing and potential branch and joint layouts and the number of joint encoders (and/or actuators) for parallel manipulators (PMs) [multiple branchs supporting a common payload] will be investigated. Analytical closed-form solutions to fundamental kinematic and force problems for different numbers of task Degrees of Freedom (DOF) will be identified (objective (A).) (B) Solutions and algorithms for utilizing redundant encoding and/or actuation elements will be developed for: Bi) fault-detection (FD) and failure-safety (FS) for the identified PMs and for Bii) ensuring accurate uni-directional actuactor forces (for actuated prismatic joints) and/or torques (for actuated revolute joints.) The actuation required for PM-based Master Arms (MAs) for the control of Robotic Devices (RDs) in hazardous work enviroments will be evaluated (objective (C).) Included is Ci) design of force-reflective PM-based MAs which use existing DC servo-motors, Cii) implementation of FD and FS PM-based MAs for the control of Underwater Vehicle-Manipulator systems.