Development and experimental trials of a durable jointed manipulator Abstract Many handling tasks in the manufacturing and construction sectors present risks of hand and arm injuries. Automation of these handling tasks is currently difficult, however, due to the high degree of dexterity which they require.Previous IRSST-funded research resulted in the design of a jointed manipulator offering a high degree of dexterity. This project will further develop the manipulator and conduct experimental trials of it. A jointed manipulator capable of grasping objects will be constructed, a manipulator-controller interface developed and programmed, and trials conducted.Over the medium term, the introduction of this manipulator will reduce the risk of injury and serious accidents associated with certain hazardous handling operations. The prototype will also be used as a test bed during further research on the mechanics of grasping. Produced Under this Project Scientific Publications Analyse cinématique de préhenseurs à chaîne cinématique arborescenteImçanoudene B., Gosselin C.Source : Forum de la Société canadienne de génie mécanique (1994, Montréal, Québec), 1994, p. 598-607Application of dexterity indices to spatial articulated handsImçanoudene B., Gosselin C.Source : in International Workshop on Advances in Robot Kinematics (4e : 1994 : Ljubljana, Slovénie), Proceedings, 1994, p. 201-208Conception cinématique de préhensurs sous-actionnésMontambault S., Gosselin C.Source : Colloque sur les applications techniques de la mécanique (12e, 1994, Montréal, Québec, 1994, p. 253-261 Additional Information Type: Project Number: 0092-0330 Status: Completed Research Field: Mechanical and Physical Risk Prevention Team: Clément Gosselin (Université Laval)