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A Novel Method of Dexterity Analysis for a 5-DOF Manipulator
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نویسنده
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guo w. ,li r. ,cao c. ,gao y.
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منبع
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journal of robotics - 2016 - دوره : 2016 - شماره : 0
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چکیده
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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. © 2016 wanjin guo et al.
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آدرس
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state key laboratory of robotics and system,harbin institute of technology,92 west dazhi street,nangang,harbin, China, state key laboratory of robotics and system,harbin institute of technology,92 west dazhi street,nangang,harbin, China, school of mechanical engineering,nanjing university of science and technology,xiaolingwei 200,nanjing,china,wuhu hit robot technology research institute co.,ltd.,electronic industrial park,block e,jiujiang district,wuhu, China, state key laboratory of robotics and system,harbin institute of technology,92 west dazhi street,nangang,harbin, China
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Authors
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