RESEARCH PAPERS: Robotics Papers

Workspace Analysis of Regional Structures of Manipulators

[+] Author and Article Information
J. Spanos, D. Kohli

Dept. of Mechanical Engineering, University of Wisconsin, Milwaukee, WI 53201

J. Mech., Trans., and Automation 107(2), 216-222 (Jun 01, 1985) (7 pages) doi:10.1115/1.3258711 History: Received July 10, 1984; Online November 19, 2009


The fundamental equations for conducting workspace analysis of a class of manipulators having the last three revolute joint axes intersect orthogonally at a point are provided in this paper. These equations are intended for application of the basic theory given in [1] and are concisely arranged in tables. Several examples are included illustrating the use of the tables and equations for determining (a ) the boundary surfaces, (b ) the surfaces separating the regions of different order of accessibility, and (c ) the boundaries due to joint motion limitation.

Copyright © 1985 by ASME
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