RESEARCH PAPERS: Mechanisms Papers

Design Considerations for Manipulator Workspace

[+] Author and Article Information
K. C. Gupta

Department of Materials Engineering, University of Illinois at Chicago Circle, Chicago, Ill. 60680

B. Roth

Department of Mechanical Engineering, Stanford University, Stanford, Calif. 94305

J. Mech. Des 104(4), 704-711 (Oct 01, 1982) (8 pages) doi:10.1115/1.3256412 History: Received June 11, 1981; Online November 17, 2009


This paper introduces some basic concepts regarding the workspaces of manipulators. The first part gives a general discussion regarding workspace shapes. Most of the rest of the paper focuses on manipulators with three orthogonal mutually intersecting axes. The structures of the primary and secondary workspaces for such systems are determined and the effects of hand size are examined in detail. Several specific examples are presented to illustrate the basic theory.

Copyright © 1982 by ASME
Topics: Design , Manipulators , Shapes
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