A Study on Workspace Topologies of 3R Industrial-Type Manipulators

This paper presents a workspace analysis of 3R industrial-type manipulators, which have a geometrical simplification of the general kinematic parameters. In particular, we have focused attention on industrial-type manipulators, which can be grouped usually as orthogonal and ortho-parallel manipulators. The classification regards with relative orientation of three directions of revolute joints´ axes. A formulation is presented based on a level-set reconstruction of the workspace. The proposed analysis allows for determining different topologies of industrial manipulators based on kinematic properties. Numerical examples are shown