RESEARCH PAPERS: Robotics and Related Mechanisms Papers

Robot Workspace of a Tool Plane: Part 1—A Ruled Surface and Other Geometry

[+] Author and Article Information
J. K. Davidson

Department of Mechanical & Aerospace Engineering, Arizona State University, Tempe, AZ 85287

K. H. Hunt

Department of Mechanical Engineering, Monash University, Clayton, Victoria 3168, Australia

J. Mech., Trans., and Automation 109(1), 50-60 (Mar 01, 1987) (11 pages) doi:10.1115/1.3258785 History: Received July 01, 1986; Online November 19, 2009


The sweeping process is used for conceptually describing plane-workspaces and for distinguishing certain forms of these workspaces for robots. The tangent point to the plane-workspace of a tool plane σ is identified as the intersection point of σ with that extreme-distance line which is also normal to σ. The quartic ruled surface, which is a new property of the dual torus, is identified and described. It contains information that uniquely identifies the 2-R manipulator which generates the dual torus. these geometric features are then used in developing the equations for computer generation of plane-workspace envelopes and boundaries for an n-R robot.

Copyright © 1987 by ASME
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