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

Wanjin Guo; Ruifeng Li; Chuqing Cao; Yunfeng Gao

doi:10.1155/2016/8901820

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

Wanjin Guo^*
, Ruifeng Li
, Chuqing Cao
, Yunfeng Gao

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
Nanjing University of Science and Technology
HIT Wuhu Robot Technology Research Institute

Research output: Contribution to journal › Article › peer-review

7 Scopus citations

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.

Original language	English
Article number	8901820
Journal	Journal of Robotics
Volume	2016
DOIs	https://doi.org/10.1155/2016/8901820
State	Published - 2016

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title = "A Novel Method of Dexterity Analysis for a 5-DOF Manipulator",

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.",

author = "Wanjin Guo and Ruifeng Li and Chuqing Cao and Yunfeng Gao",

note = "Publisher Copyright: {\textcopyright} 2016 Wanjin Guo et al.",

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AU - Guo, Wanjin

AU - Li, Ruifeng

AU - Cao, Chuqing

AU - Gao, Yunfeng

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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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DO - 10.1155/2016/8901820

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SN - 1687-9600

VL - 2016

JO - Journal of Robotics

JF - Journal of Robotics

M1 - 8901820

ER -

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

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