15 July 2002 Over-constrained rigid multibody systems: differential kinematics and fault tolerance
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Over-constrained parallel manipulators can be used for fault tolerance. This paper derives the differential kinematics and static force model for a general over-constrained rigid multibody system. The result shows that the redundant constraints result in constrained active joints and redundant internal force. By incorporating these constraints, general methods for overcoming stuck legs or even the complete loss of legs are derived. The Stewart platform special case is studied as an example, and the relationship between its forward Jacobian and its inverse Jacobian is also found.
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Yong Yi, Yong Yi, John E. McInroy, John E. McInroy, Yixin Chen, Yixin Chen, } "Over-constrained rigid multibody systems: differential kinematics and fault tolerance", Proc. SPIE 4701, Smart Structures and Materials 2002: Smart Structures and Integrated Systems, (15 July 2002); doi: 10.1117/12.474658; https://doi.org/10.1117/12.474658

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