RESEARCH PAPERS: Robotic Manipulator and Mechanisms Papers

On the Evaluation of Manipulator Workspace

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

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

J. Mech., Trans., and Automation 105(1), 70-77 (Mar 01, 1983) (8 pages) doi:10.1115/1.3267350 History: Received June 13, 1982; Online November 19, 2009


This paper presents a theorem regarding manipulator workspace and, based on this theorem, a manipulator performance index is introduced. It is found that for a given manipulator structure the ratio of the volume of the workspace to the cube of its total link length is a constant. Algorithms for outlining the boundary profile of workspace and for quantitative evaluation of its volume are presented. A computer package, KAM, is developed, which implements the theories and algorithms developed in this investigation as well as in a companion paper [1]. Several specific examples are given to illustrate the application of the performance index and the capability of KAM.

Copyright © 1983 by ASME
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