Manipulators represent man's attempt at 

 duplicating his ability to grasp, hold, posi- 

 tion, orient, actuate, push or pull. Conse- 

 quently, the terminology describing manipu- 

 lators and the manipulators themselves are 

 patterned after the human arm and hand. 

 ALVIlS's manipulator is shown in Figure 

 10.35 and serves to introduce the terminol- 

 ogy describing major components and the 

 movements this particular manipulator can 

 perform. 



In an excellent summary of manipulator 

 principles and capabilities, P. K. Rockwell 

 (33) divides the motions of a manipulator into 

 location and orientation. Location is defined 

 as positioning the terminal end (claw) at any 

 spot in the x, y and z axes. Orientation refers 

 to placing the claw in any attitude requiring 

 rotation about the x, y and z axes. Hence, six 

 basic motions, or degrees of freedom, are 

 required to fulfill these three location and 

 three orientation capabilities (Fig. 10.36). 



WRIST 



Fig. 10 35 ALVIN's manipulator The arrows describe the movement at various junctures. (NAVOCEANO) 



520 



