RESEARCH PAPERS: Robotic Manipulator and Mechanisms Papers

An Algorithm for the Workspace of a General n-R Robot

[+] Author and Article Information
Y. C. Tsai

Oklahoma State University and National Sun Yat-Sen University, Taiwan, R.O.C.

A. H. Soni

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, Okla.

J. Mech., Trans., and Automation 105(1), 52-57 (Mar 01, 1983) (6 pages) doi:10.1115/1.3267347 History: Received June 05, 1982; Online November 19, 2009


An algorithm is developed to determine the workspace on an arbitrary plane for an n -R robot. The algorithm is based on a linear optimization technique and on small incremental displacements applied to coordinate transformation equations relating the kinematic parameters of the n -R robot. The algorithm provides flexibility to let the user treat the robot hand as a point, a line, or a rigid-body. The revolute pairs of the robot may execute full or partial rotation. The proposed method may be extended to incorporate in a robot the existence of prismatic pairs along with revolute pairs.

Copyright © 1983 by ASME
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