Paulo Roberto Bergamaschi

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The workspace of a manipulator robot is considered of great interest from theoretical and practical viewpoint, being a basic tool for kinematic evaluation and dimensional design. The accurate calculation of workspace and its boundary is of great importance because of its influence on the manipulator design, the manipulator position in the work environment(More)
A fundamental feature of a manipulator is the capacity of its workspace because it influences on the manipulator design, in the manipulator position in the work environment and in the its dexterity. In the case of 3R manipulators, it is represented by a revolution solid. Thus, in this paper the workspace volume is calculated based on the area of its radial(More)
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