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A Novel Method of Dexterity Analysis for a 5-DOF Manipulator


Affiliations
1 State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nangang, Harbin 150001, China
2 School of Mechanical Engineering, Nanjing University of Science and Technology, Xiaolingwei 200, Nanjing 210094, China
 

The dexterity characteristics and dexterous workspace features are applied as the considerable and key kinematics properties to evaluate the manipulator performance. In this paper, a novel method of the dexterity analysis with the character of graphic dexterity and a new concept of the spatial mapping envelope surface are proposed for a 5-degree of freedom (DOF)manipulator.Additionally, for an arbitrary selected point and a dexterous workspace, the dexterity characteristics and the dexterity conditions are drawn, respectively. Finally, the dexterous workspace of this 5-DOF manipulator is obtained and it can be utilized as the basis research of this manipulator in future such as the structure optimization and motion control.
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  • A Novel Method of Dexterity Analysis for a 5-DOF Manipulator

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Authors

Wanjin Guo
State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nangang, Harbin 150001, China
Ruifeng Li
State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nangang, Harbin 150001, China
Chuqing Cao
School of Mechanical Engineering, Nanjing University of Science and Technology, Xiaolingwei 200, Nanjing 210094, China
Yunfeng Gao
State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nangang, Harbin 150001, China

Abstract


The dexterity characteristics and dexterous workspace features are applied as the considerable and key kinematics properties to evaluate the manipulator performance. In this paper, a novel method of the dexterity analysis with the character of graphic dexterity and a new concept of the spatial mapping envelope surface are proposed for a 5-degree of freedom (DOF)manipulator.Additionally, for an arbitrary selected point and a dexterous workspace, the dexterity characteristics and the dexterity conditions are drawn, respectively. Finally, the dexterous workspace of this 5-DOF manipulator is obtained and it can be utilized as the basis research of this manipulator in future such as the structure optimization and motion control.