Remarks on Application of a 6R Robotic Manipulator as an Orienting Device

This paper reports remarks formulated basing on simulation of orienting the robotic manipulator wrist-flange. Astandard 6R manipulator of a short reach, composed of the anthropomorphic arm and the spherical wrist was considered. First, numerical estimation of a ratio of a range of orienting limited by joint motion ranges to the unlimited range of orienting for a set of points distributed uniformly in the vertical plane was carried out. Next, the ratio was analyzed separately for 8 types of configurations of the 6R manipulator to investigate influence of the configuration type on its orienting capabilities. Finally, an exemplary algorithm of determination of close-to-uniform distribution of orientations for a particular case of a constantly horizontal y axis of the oriented frame was formulated as a combination of a pseudorandom initial placement and a heuristic correction. The second component of the algorithm was based on a mechanical analogy. Exemplary application of the formulated algorithm resulting in a scheduling of an orienting path appropriate for consequent setting the orientation of the wrist flange to carry out testing of some device attached to it during temporary rest of the manipulator was reported.