An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications

Mazen Zein (1) , Philippe Wenger (1) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The classification criteria are based on the topology of the workspace. Each group is evaluated according to interesting kinematic properties such as the size of the workspace subregion reachable with four inverse kinematic solutions, the existence and the size of voids, and the size of the regions of feasible paths in the workspace.

Mots clés: Workspace; classification; design parameter; node; void; feasible path

Domaines: Robotique [cs.RO]

Mazen Zein, Philippe Wenger, Damien Chablat. An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications. Proceedings of CK2005, International Workshop on Computational Kinematics, May 2005, Cassino, Italy. pp.1-12. ⟨hal-00165015⟩