A useful rating parameter for a robotic tool is dexterity. Though not complete, an appropriate analytical definition for dexterity of a device is
where the number of degrees of freedom is equal to the number of independent variables that is required to completely define an arbitrary position increment of the tool (i.e., for an arbitrary change in its kinematic configuration).
(a) Explain the physical significance of dexterity and give an example of a device for which the specification of dexterity would be very important.
(b) The power rating of a tool may be defined as the product of maximum force that can be applied by it in a controlled manner and the corresponding maximum speed. Discuss why the power rating of a manipulating device is usually related to the dexterity of the device. Sketch a typical curve of power versus dexterity