The workspace of a general 4R manipulator is analyzed by examining its cross-section evaluation to investigate its main characteristics and how they are affected by link parameters. An algebraic formulation is deduced for a workspace boundary of a general 4R manipulator from the geometry of an enve lope generation. This algebraic formulation is also useful for direct computation of the workspace volume and for detection of holes and voids. In addition, both analysis and synthesis cri teria are deduced from this algebraic formulation, taking into account the geometric nature of the 4R manipulator workspace as a volume of revolution. Several numerical examples show general geometries of 4R manipulator workspaces.
[1]
R. D. Schraft,et al.
Application of the Experimental Modal-Analysis in the Performance Testing Procedure of Industrial Robots
,
1985
.
[2]
J. Rastegar.
Workspace Analysis of 4R Manipulators With Various Degrees of Dexterity
,
1988
.
[3]
B. Roth.
Analytical Design of Two-Revolute Open Chains
,
1987
.
[4]
K. C. Gupta,et al.
Design Considerations for Manipulator Workspace
,
1982
.
[5]
Ferdinand Freudenstein,et al.
On the Analysis and Synthesis of the Workspace of a Three-Link, Turning-Pair Connected Robot Arm
,
1984
.
[6]
D. C. H. Yang,et al.
On the Evaluation of Manipulator Workspace
,
1983
.