Summary
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.
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References
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© 1974 Springer-Verlag Wien
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Vertut, J. (1974). Contribution to Analyse Manipulator Morphology Coverage and Dexterity. In: On Theory and Practice of Robots and Manipulators. International Centre for Mechanical Sciences, vol 201. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2993-7_21
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DOI: https://doi.org/10.1007/978-3-7091-2993-7_21
Publisher Name: Springer, Vienna
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