The dexterity characteristics and dexterous workspace features are applied as the considerable and key kinematics properties to\nevaluate the manipulator performance. In this paper, a novel method of the dexterity analysis with the character of graphic dexterity\nand a new concept of the spatial mapping envelope surface are proposed for a 5-degree of freedom(DOF)manipulator.Additionally,\nfor an arbitrary selected point and a dexterous workspace, the dexterity characteristics and the dexterity conditions are drawn,\nrespectively. Finally, the dexterous workspace of this 5-DOF manipulator is obtained and it can be utilized as the basis research of\nthis manipulator in future such as the structure optimization and motion control.
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