A Fairly General Algorithm to Evaluate Workspace Characteristics of Serial and Parallel Manipulators^#

摘要

Abstract In this paper a fairly general algorithm is proposed for the determination and evaluation of the workspace both for serial and for parallel manipulators. The procedure is based on a binary representation of the workspace and presents the possibility for a general evaluation of the shape and volume for robot workspace characteristics. Two examples are presented to show the practical feasibility of the proposed procedure and its practical results.