An algorithm is developed to determine the workspace on an arbitrary plane for an n-R robot. The algorithm is based on a linear optimization technique and on small incremental displacements applied to coordinate transformation equations relating the kinematic parameters of the n-R robot. The algorithm provides flexibility to let the user treat the robot hand as a point, a line, or a rigid-body. The revolute pairs of the robot may execute full or partial rotation. The proposed method may be extended to incorporate in a robot the existence of prismatic pairs along with revolute pairs.
An Algorithm for the Workspace of a General n-R Robot
Y. C. Tsai,
Y. C. Tsai
Oklahoma State University and National Sun Yat-Sen University, Taiwan, R.O.C.
A. H. Soni
School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, Okla.
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Tsai, Y. C., and Soni, A. H. (March 1, 1983). "An Algorithm for the Workspace of a General n-R Robot." ASME. J. Mech., Trans., and Automation. March 1983; 105(1): 52–57. https://doi.org/10.1115/1.3267347
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