RESEARCH PAPERS: Robotic Manipulator and Mechanisms Papers

On the Workspace of Mechanical Manipulators

[+] Author and Article Information
D. C. H. Yang, T. W. Lee

Department of Mechanical and Aerospace Engineering, Rutgers University, New Brunswick, N.J. 08903

J. Mech., Trans., and Automation 105(1), 62-69 (Mar 01, 1983) (8 pages) doi:10.1115/1.3267349 History: Received June 15, 1982; Online November 19, 2009


This paper presents an analytical investigation of manipulator workspace. The first part presents the derivation of a set of recursive equations in terms of motion and design parameters representing the workspace. These formulas are basic for the determination of the characteristics as well as the shape of workspace. The remainder of the paper concerns the investigation of the existence of hole and void in workspace. A set of criteria is formulated. Algorithms for implementing these criteria are developed. Manipulators with both unlimited and limited revolute joints are studied in this investigation.

Copyright © 1983 by ASME
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