{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T16:33:38Z","timestamp":1740155618412,"version":"3.37.3"},"reference-count":22,"publisher":"Wiley","license":[{"start":{"date-parts":[[2016,1,1]],"date-time":"2016-01-01T00:00:00Z","timestamp":1451606400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National High-Tech Research and Development Program of China","award":["2013AA040902-2"],"award-info":[{"award-number":["2013AA040902-2"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2016]]},"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.1155\/2016\/8901820","type":"journal-article","created":{"date-parts":[[2016,2,4]],"date-time":"2016-02-04T21:02:47Z","timestamp":1454619767000},"page":"1-10","source":"Crossref","is-referenced-by-count":1,"title":["A Novel Method of Dexterity Analysis for a 5-DOF Manipulator"],"prefix":"10.1155","volume":"2016","author":[{"given":"Wanjin","family":"Guo","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nangang, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruifeng","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nangang, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3715-6394","authenticated-orcid":true,"given":"Chuqing","family":"Cao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Nanjing University of Science and Technology, Xiaolingwei 200, Nanjing 210094, China"},{"name":"Wuhu HIT Robot Technology Research Institute Co., Ltd., Electronic Industrial Park, Block E, JiuJiang District, Wuhu 241007, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9858-3835","authenticated-orcid":true,"given":"Yunfeng","family":"Gao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nangang, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2013.2295120"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2015.01.004"},{"issue":"2","key":"3","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498500400201","volume":"4","year":"1985","journal-title":"The International Journal of Robotics Research"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2009.06.008"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2010.09.004"},{"issue":"2","key":"6","doi-asserted-by":"crossref","first-page":"309","DOI":"10.1139\/tcsme-2011-0018","volume":"35","year":"2011","journal-title":"Transactions of the Canadian Society for Mechanical Engineering"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9394-z"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1115\/1.4027236"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1002\/rob.1013"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574703005022"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574708004402"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2010.2082091"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.3901\/CJME.2014.0619.115"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.3901\/CJME.2013.03.585"},{"issue":"3","key":"16","doi-asserted-by":"crossref","first-page":"220","DOI":"10.1115\/1.2912772","volume":"113","year":"1991","journal-title":"Journal of Mechanical Design"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300101"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2327008"},{"issue":"6","key":"19","doi-asserted-by":"crossref","first-page":"765","DOI":"10.20965\/ijat.2015.p0765","volume":"9","year":"2015","journal-title":"International Journal of Automation Technology"},{"key":"20","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1115\/1.4011045","volume":"22","year":"1955","journal-title":"Transactions of the ASME. 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