This paper presents a theorem regarding manipulator workspace and, based on this theorem, a manipulator performance index is introduced. It is found that for a given manipulator structure the ratio of the volume of the workspace to the cube of its total link length is a constant. Algorithms for outlining the boundary profile of workspace and for quantitative evaluation of its volume are presented. A computer package, KAM, is developed, which implements the theories and algorithms developed in this investigation as well as in a companion paper [1]. Several specific examples are given to illustrate the application of the performance index and the capability of KAM.

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