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Journal of Robotics
Volume 2016, Article ID 8901820, 10 pages
Research Article

A Novel Method of Dexterity Analysis for a 5-DOF Manipulator

1State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nangang, Harbin 150001, China
2School of Mechanical Engineering, Nanjing University of Science and Technology, Xiaolingwei 200, Nanjing 210094, China
3Wuhu HIT Robot Technology Research Institute Co., Ltd., Electronic Industrial Park, Block E, JiuJiang District, Wuhu 241007, China

Received 4 October 2015; Revised 14 December 2015; Accepted 28 December 2015

Academic Editor: Yuan F. Zheng

Copyright © 2016 Wanjin Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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