Kinematics and Duty Cycles of the SM-229 Force Reflecting Servomanipulator,
- R. S. Stoughton
- M.S. thesis,
The duty cycles of a human-controlled servomanipulator system have been experimentally measured revealing how humans use manipulators to perform tasks. The use of the kinematic ranges, in both joint and Cartesian space is valuable to engineers in the kinematic design of servomanipulators. The working volume of human manipulation presented here is also of interest to designers of prosthetic systems. These results illuminate the relative merits of various system drive configurations. A graphical representation of mechanical power usage, which displays the total operation time as a function of toque and velocity, is presented for each manipulator joint. These data are compared with data representing idealized joint performance resulting in design criteria for quantitative improvements in joint torque and velocity capacities. A generalized method for applying this representation to any robotic system is discussed.