ON MANIPULATOR LINKAGE DESIGN: ORIENTATIONAL STRUCTURE AND SERVICE ANGLE.
Document Type
Conference Proceeding
Date of Original Version
12-1-1985
Abstract
A quantitative index of manipulator dexterity is the solid angle through which the end effector can orient itself while touching a small object fixed on ground. A quick and approximate method for calculation of the solid angle is presented. It works for manipulator structures having any combination of prismatic or revolute joints.
Publication Title, e.g., Journal
Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University)
Volume
2
Citation/Publisher Attribution
Datseris, P., and M. A. Shaik. "ON MANIPULATOR LINKAGE DESIGN: ORIENTATIONAL STRUCTURE AND SERVICE ANGLE.." Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University) 2, (1985). https://digitalcommons.uri.edu/mcise_facpubs/155
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