On the Dexterity of Robotic Manipulators—Service Angle

Abstract

This paper presents a theoretical study on the dexterity problem of 6R manipulators. Particularly, it deals with the manipulator’s service angle around a reachable point in space. The first part conceptualizes the ideas of service region, free service region and polarities of robots, and shows that the entire service angle can be categorized into a number of free service regions. The remainder of the paper deals with the investigation of basic properties of free service regions. The relationship between free service regions and service angle is subsequently formulated into a set of theorems and criteria. Specific examples are given for illustration.

Manipulator Performance Measures - A Comprehensive Literature Survey

“…Early works on quantifying a manipulator's performance were focused on the study of its workspace and singularities ( [16], [17], [18], [19], [20]), and continues to be a topic of great interest to researchers ( [9], [21], [22], [23], [24], [25]). Many analytical and numerical methods were formulated to determine the workspace of manipulators since the mid 1970's; however, a satisfactory, computationally cost effective and generalized method is yet to be formulated [26].…”

“…Introduced by Vinogradov [32], Service Angle/Region is defined as "the range of the approach angle of the manipulator around a given point in the workspace" [32]. Yang et al [18] improved upon the concept of Service Angle and proposed the concept of Service Spheres. The service sphere is defined as a sphere about a given point in the workspace that "may be used to detect all possible penetrations of the end-effector through it" [31].…”

Using metaheuristics for optimum design of 3R orthogonal manipulators considering their topology

“…This index can be defined for all types of robotic mechanical systems, particularly, serial manipulators. There are several performance indices defined in the literature [28,32,34,35]. This paper uses the condition number Cond(J) of the Jacobian matrix to measure the dexterity of the 3R manipulators [2].…”

Workspace and Orientation Analysis of a Parallel Structure for Robotic Fingers

“…In most aspects of kinematics of robotic fingers, the flexibility is one of the key analyses and it gives rise to the workspace study of a close-chain mechanism. Yang and Lai (10) in 1985 first presented a method of service angles on the sphere to analyze the workspace of a mechanism. At the same time Jo and Haug (11) obtained boundaries of mechanism workspaces and traced a regular one-dimensional solution from non-linear equations.…”