A Methodology To Determine The Funtional Workspace Of 5-R Robot Using Forward Kinematics for TAL Robot Denvait-Hartenberg Representation for TAL Robot

Abstract

The work envelope of a robot does not capture the effect of tool orientation. Applications will require the tool
to be at a certain orientation to perform the tasks necessary. It is therefore important to introduce a parameter that can
capture the effect of orientation for multiple robots and configurations. This is called the functional work space, which is
a 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 functional
work space of a robot for a certain tool orientation pair thus aiding in proper t ool, tool path, fixture, related
configuration selection and placement. The method is applicable to kinematic chains that can be modeled using the
Denavit-Hartenberg representation for serial kinematic chains. Several solutions are studied and an analytical and a
geometric solution is presented after a detailed study of joint dependencies, joint movements, limits, link lengths and
displacements through visual, empirical And analytical approaches.
It is difficult to derive a general paradigm since different parameters such as, joint limits, angles and twist
angles 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.