Paper Details

The work envelope of a robot does not capture the effect of tool orientation. Applications will require the toolto be at a certain orientation to perform the tasks necessary. It is therefore important to introduce a parameter that cancapture the effect of orientation for multiple robots and configurations. This is called the functional work space, which isa subset of the work envelope would capture the effect of orientation.This research discusses the development of establishing an assessment tool that can predict the functionalwork space of a robot for a certain tool orientation pair thus aiding in proper t ool, tool path, fixture, relatedconfiguration selection and placement. The method is applicable to kinematic chains that can be modeled using theDenavit-Hartenberg representation for serial kinematic chains. Several solutions are studied and an analytical and ageometric solution is presented after a detailed study of joint dependencies, joint movements, limits, link lengths anddisplacements through visual, empirical And analytical approaches.It is difficult to derive a general paradigm since different parameters such as, joint limits, angles and twistangles seem to have a different effect on the shape of the workspace. The practical examples of TR-2TAL ROBOT and 3-DOF spatial manipulator are treated with this method.

Prashant B. Vavhal, Suraj D. Golhar, Amit P. Jagnade, Shreyas C.Pai, “A Methodology To Determine The Funtional Workspace Of 5-R Robot Using Forward Kinematics for TAL Robot Denvait-Hartenberg Representation for TAL Robot”, International Journal of Advance Engineering and Research Development (IJAERD), Vol. 2, Issue 3, pp. 131-136, March 2015.