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

Wanjin Guo, Ruifeng Li, Chuqing Cao, Yunfeng Gao
2016 Journal of Robotics  
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
more » ... 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.
doi:10.1155/2016/8901820 fatcat:yxsphd36tre2jkot4xzqxoxiea