The Workspaces of a Mechanical Manipulator

[+] Author and Article Information
A. Kumar

Department of Mechanical and Industrial Engineering, University of Wisconsin, Platteville, Wisc. 53818

K. J. Waldron

Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210

J. Mech. Des 103(3), 665-672 (Jul 01, 1981) (8 pages) doi:10.1115/1.3254968 History: Received June 01, 1980; Online November 17, 2009


A new theory and a resulting algorithm for tracing the bounding surfaces of mechanical manipulator workspaces is presented. The natures of the numerous singular configurations and means of accommodating them within the algorithm are also studied. In order to sort surfaces of interest from the large number of possible solutions, a numerically implementable labelling technique is also presented. The algorithm is applicable to all practicable manipulator configurations with three, or more, degrees of freedom.

Copyright © 1981 by ASME
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