Contribution to Analyse Manipulator Morphology Coverage and Dexterity

  • Jean Vertut
Part of the International Centre for Mechanical Sciences book series (CISM, volume 201)


Morphology of different manipulators and robots is analized and the limitations in orienting an object related to this morphology and to the position of the arm. From the extreme extension of the arm where the tong can only twist an object, to the center zone where the object can be oriented in maximum possibilities, several concentric zones are proposed. In the best zoning condition, out of special viewing problem, dexterity have been tested on different tasks to identify successive slowing factors due to the manipulator itself, the terminal device, the control mode etc... A proposed General Chart of dexterity is given for further investigation.


Force Feedback Time Efficiency Orientation Motion Terminal Device Cell Depth 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 1974

Authors and Affiliations

  • Jean Vertut
    • 1
  1. 1.Commissariat a L’energie AtomiqueSaclayFrance

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