Title

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

Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University)

Volume

2

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