| An algorithm to delineate manipulator workspace using the reciprocal condition is presented in this study. It is first derived to find the workspace of an N-revolute-ideal-joints manipulator, and then is modified to include features common in industrial robots: special geometry, joint limits, and prismatic joints.;The singularity field of a manipulator, in which the manipulator loses one or more degrees of freedom, is discussed in the rest of this dissertation. For a manipulator with special geometry, the singularity free workspace can be synthesized using proper joint limits, and the optimal geometry in this sense is discussed. The feasibility of machining robots is also discussed in this research, and an algorithm which makes use of the reciprocal screws is introduced to alleviate joint braking torques during machining. |
