A Novel Method of Dexterity Analysis for a 5-DOF Manipulator
Joint Authors
Li, Ruifeng
Guo, Wanjin
Cao, Chuqing
Gao, Yunfeng
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-04
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Guo, Wanjin& Li, Ruifeng& Cao, Chuqing& Gao, Yunfeng. 2016. A Novel Method of Dexterity Analysis for a 5-DOF Manipulator. Journal of Robotics،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1110289
Modern Language Association (MLA)
Guo, Wanjin…[et al.]. A Novel Method of Dexterity Analysis for a 5-DOF Manipulator. Journal of Robotics No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1110289
American Medical Association (AMA)
Guo, Wanjin& Li, Ruifeng& Cao, Chuqing& Gao, Yunfeng. A Novel Method of Dexterity Analysis for a 5-DOF Manipulator. Journal of Robotics. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1110289
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110289