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Developing contour surfaces of manipulators with specified dexterities

Published online by Cambridge University Press:  11 April 2011

K. Y. Tsai ,
P. J. Lin  and
H. Y. Yu
K. Y. Tsai*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei 10672, Taiwan
P. J. Lin
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei 10672, Taiwan
H. Y. Yu
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei 10672, Taiwan
*
*Corresponding author. E-mail: kytsai@mail.ntust.edu.tw
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Summary

Dexterity and workspace are two of the most important design criteria in developing manipulators. This paper presents algorithms for developing contour surfaces with specified dexterities and evaluating the area of the surfaces or the volume of the enclosed regions. The obtained results can be utilized to evaluate the dexterity and the rate of change of dexterity. Any closed curve or surface can be used to determine the singularity-free workspace of a manipulator with better dexterity. The proposed algorithms can be employed to study the dexterity and singularity-free workspace of 3-DOF manipulators and 4-DOF redundant serial manipulators. The contour surfaces in some subspaces of 6-DOF manipulators can also be investigated.

Keywords

ManipulatorIsotropyDexterityWorkspaceSingularityOptimal design
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1025 - 1035
Copyright
Copyright © Cambridge University Press 2011

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