Reachability and dexterity of elbow and dual-elbow robot manipulators

Dimitrios M. Emiris, Vassilios D. Tourassis

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

The objective of this article is to highlight the reachability and dexterity of dual-elbow manipulators and provide a comparative evaluation of their capabilities. By necessity, dual-elbow robots are compared to elbow manipulators, the de facto standard of industrial applications. Although it is well established that the ideal elbow and dual elbow geometries are comparable in terms of workspace optimization, it is shown that the corresponding realistic geometries exhibit distinct properties. Realistic dual-elbow and elbow manipulators are investigated and the effects of manufacturing distortions on the flexibility and workspace utilization of the two geometries are quantified and contrasted. Realistic dual-elbow geometries are shown to provide, in general, better reachability and dexterity, especially for manipulators with a large structural frame, and to be less sensitive to parallelism errors.

Original languageEnglish
Pages (from-to)1021-1041
Number of pages21
JournalJournal of Robotic Systems
Volume9
Issue number8
Publication statusPublished - Dec 1992
Externally publishedYes

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Manipulators
Robots
Geometry
Structural frames
Industrial applications

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Reachability and dexterity of elbow and dual-elbow robot manipulators. / Emiris, Dimitrios M.; Tourassis, Vassilios D.

In: Journal of Robotic Systems, Vol. 9, No. 8, 12.1992, p. 1021-1041.

Research output: Contribution to journalArticle

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