An appropriate formulation for workspace cross section area of 3R robot manipulator

Robotic manipulators with three-revolute (3R) positional configurations are very common in the industrial robots (IRs). The capability of a robot largely depends on the workspace (WS) of the manipulator apart from other parameters. With the constraints in mind the optimization of the workspace is of prime importance in designing the manipulator. The present work aims at obtaining a formulation of workspace area while constraints are imposed to control the total area. Subsequently numerical example is presented to validate the proposed methodology.