RESEARCH PAPERS: Mechanisms Papers

Boundary Surfaces, Limit Surfaces, Crossable and Noncrossable Surfaces in Workspace of Mechanical Manipulators

[+] Author and Article Information
D. Oblak

GCA Corporation, Minneapolis, MN

D. Kohli

Department of Mechanical Engineering, University of Wisconsin–Milwaukee, Milwaukee, WI 53201

J. Mech., Trans., and Automation 110(4), 389-396 (Dec 01, 1988) (8 pages) doi:10.1115/1.3258935 History: Received July 01, 1986; Online November 19, 2009


The workspace of a regional structure of a manipulator is bounded by a Jacobian surface (where the Jacobian is singular) or a D -surface (where one or more of the joints achieve a limit position). The Jacobian surfaces and D -surfaces may also appear inside the workspace. In such a case, these surfaces are noncrossable for certain configurations and crossable for certain other configurations. In addition, there may be singular points which are crossable by all configurations of the manipulator. In this paper, a workspace analysis method has been developed for identification of these surfaces. Examples of RPP and 3R regional structures are presented for illustration.

Copyright © 1988 by ASME
Topics: Manipulators
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