Dexterity Measure for a 2-DOF Revolute Spherical Serial Manipulator

Abstract:

This paper is to explore the measure of isotropy applied to a 2-DOF revolute spherical serial manipulator. A revolute spherical serial manipulator means that the directions of rotation of the manipulator are intersecting. This manipulator arm will be used for carrying microscope camera as part of the 2-hand master-slave operation with force reflection system for miniature task operation in order to enhance view of vision. The data of the dexterity measure are collected from the computer simulation based on invert kinematics and Jacobian of the manipulator. The results revealed that the design solution of the manipulator has high measure of isotropy for prescribe paths. This result is to confirm that the manipulator can move with in the design workspace smoothly.

• Periodical: Applied Mechanics and Materials (Volumes 799-800)
• Pages: 1016-1020
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.799-800.1016
• Online since: October 2015
• Authors: Piti Uthong, Viboon Sangveraphunsiri*
• Keywords: Dexterity Measure, Jacobian, Measure of Isotropy, Revolute Spherical Serial Manipulator

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