An Algebraic Formulation for the Workspace Determination of General 4R Manipulators

  • M. Ceccarelli
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)


An algebraic approach is proposed to deduce an algorithm for determining the workspace boundary of 4R manipulators. The boundary contour of a workspace is described as a function of the link parameters and one revolute joint angle only. Particularly, the proposed algorithm is useful to trace the cross-section so that the workspace characteristics, as shape, hole and voids, are immediately shown and analysed. Some examples prove the usefulness of the algorithm and illustrate some peculiarities of the workspace topology of general 4R manipulators.


Algebraic Formulation Boundary Contour Algebraic Algorithm Workspace Analysis Toroidal Surface 
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Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • M. Ceccarelli
    • 1
  1. 1.University of CassinoCassinoItaly

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