Dexterity of underactuated six degrees of freedom three dimensional redundant manipulators

Authors

  • Samer Yahya Department of Mechanical, Materials and Manufacturing Engineering The University of Nottingham Malaysia Campus, Malaysia
  • Haider Abbas Almurib Department of Electrical and Electronic Engineering The University of Nottingham Malaysia Campus, Malaysia
  • Mahmoud Moghavvemi Center of Research in Applied Electronics (CRAE) University of Malaya, Malaysia

DOI:

https://doi.org/10.21914/anziamj.v55i0.7709

Keywords:

Underactuated manipulators, fault tolerance, dexterity measure

Abstract

We quantify the dexterity of underactuated robot manipulators equipped with active and passive joints. We discuss the harnessing of redundant degrees of freedom in a robotic manipulator in order to keep it in service. We assume that the passive joints are locked at an arbitrary known position. There are three important dexterity measures: workspace volume, reachability, and manipulability. We discuss the workspace volume of a six degrees of freedom, three dimensional, redundant manipulator with an arbitrarily located passive joint. References

Published

2014-09-02

Issue

Section

Proceedings Engineering Mathematics and Applications Conference