Dexterity of two planar 3R cooperating robots

Conference · Thu Jan 01 04:00:00 EST 1987

OSTI ID:6411674

Palmquist, R D; Duffy, J

The reachable and dexterous workspaces are significant parameters in evaluating the performance characteristics of a given manipulator. This also applies to manipulator pairs working together to perform a given task. This task could be assembling a workpiece on a manufacturing line, working the fingers of a mechanical hand in harmony to pick up an object, or perhaps coordinating the motion of the legs of a walking machine. In each case, optimizing these workspaces becomes important. In the companion paper, ''Reachable Workspace of Two Planar 3R Cooperating Manipulators,'' the reachable workspace of these manipulator pairs was addressed. Here, the issue of dexterity is investigated. Specifically, the dexterous properties of a single planar 3R manipulator are reviewed. Building on these ideas, the dexterity of a pair of these planar robots is then analyzed. In accomplishing this, we define the term ''tandem dexterity'' and classify the different dexterity forms. We present some applications of this dexterity analysis, showing how it can be used in typical tasks employing such manipulator pairs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA); Florida Univ., Gainesville (USA). Center for Intelligent Machines and Robotics
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 6411674
• Report Number(s): SAND-87-0864C; CONF-870852-1; ON: DE87007843
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
DEGREES OF FREEDOM
DISTANCE
EQUIPMENT
INTERACTION RANGE
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MECHANICS
PERFORMANCE
RANGE
REMOTE HANDLING EQUIPMENT
ROBOTS