期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2016
卷号：5
期号：10
页码：18673
DOI：10.15680/IJIRSET.2016.0510089
出版社：S&S Publications
摘要：The workspaces and kinematic characterization of serial chain manipulator geometries and thegeometric optimization have been considered widely. The designer must consider the number of joints and theirgeometric arrangement. These considerations affect the manipulator's workspace. In this paper, a method for obtainingreachable workspace for kinematic chains is offered. Reachable workspace is proposed as a valuable measure ofkinematic performance. The methodology of delineating the workspace is illustrated with examples.
