RESEARCH PAPERS: Mechanisms and Robotics Papers

On the Determination of the Workspace of Complex Planar Robotic Manipulators

[+] Author and Article Information
Rémi Ricard, Clément M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4

J. Mech. Des 120(2), 269-278 (Jun 01, 1998) (10 pages) doi:10.1115/1.2826968 History: Received December 01, 1994; Revised October 01, 1995; Online December 11, 2007


A new method for the determination of the workspace of complex planar robotic manipulators is described in this paper. The method is based on the use of joint limits to obtain equations describing limiting curves. These limiting curves are then segmented at their mutual intersections and validated. The resulting sets of portions of curves form the envelope of the workspace. The algorithm is completely general and can be applied to any three-degree-of-freedom planar manipulator—serial, parallel or hybrid—with or without joint limits. Examples of the application of the method to a serial three-degree-of-freedom manipulator, to a hybrid three-degree-of-freedom manipulator and to a parallel three-degree-of-freedom manipulator are given.

Copyright © 1998 by The American Society of Mechanical Engineers
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