Details of Grant 

EPSRC Reference:	GR/R26443/01
Title:	Synthesis of Orientation Capability of Serial Robot Manipulators Using Rotability of Grashof Type Equivalent Mechanisms
Principal Investigator:	Dai, Professor J
Other Investigators:
Researcher Co-Investigators:
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Department:	Mechanical Engineering
Organisation:	Kings College London
Scheme:	ROPA
Starts:	01 April 2001	Ends:	30 September 2002	Value (£):	31,039
EPSRC Research Topic Classifications:	Robotics & Autonomy
EPSRC Industrial Sector Classifications:	No relevance to Underpinning Sectors
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Summary on Grant Application Form
The proposed research aims at an adventurous cross-boundary research by applying the rotatability study of mechanisms to the orientation synthesis of serial robot manipulators. It is to characterise the correlation between a serial manipulator and its equivalent mechanism and to prove the new concept of relating the extended Grashof type condition to orientation study of manipulators and of relating the orientation capability to manipulator link parameters. The rotatability will be investigated and the crank will be identified corresponding to a full dexterous end-effector link. A systematic procedure for analysing and synthesising orientation capability will be developed. The principles and results will then be demonstrated in dexterity synthesis of several surgical robot manipulators.
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