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Types of Workspaces in Mechanisms

The document discusses different types of workspaces including constant orientation workspace, orientation workspace, maximal workspace, inclusive orientation workspace, dexterous workspace, and total orientation workspace. Various approaches have been proposed to determine the workspaces of parallel mechanisms.

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Sayem Patel
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36 views1 page

Types of Workspaces in Mechanisms

The document discusses different types of workspaces including constant orientation workspace, orientation workspace, maximal workspace, inclusive orientation workspace, dexterous workspace, and total orientation workspace. Various approaches have been proposed to determine the workspaces of parallel mechanisms.

Uploaded by

Sayem Patel
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

Workspaces

There are various types of workspace in the

done works, among which the most usual ones are as follows

[9]: (1) Constant orientation workspace: The set of locations

that can be reached by the reference point C with a given orientation;

(2) orientation workspace: The set of orientations

that can be reached while the reference point C is in a fixed

location; (3) maximal workspace: The set of locations that can

be reached by the reference point C with at least one orientation

of the platform; (4) inclusive orientation workspace: all

the locations of the reference point C that may be reached with

at least one orientation among a set defined by ranges on the

orientation angles; (5) dexterous workspace: all the locations

of the reference point P for which all orientations are possible;

(6) total orientation workspace: all the locations of the reference

point P that may be reached with all the orientations

among a set defined by ranges on the orientation angles.

Various approaches have been proposed to determine the

workspaces of parallel mechanisms such as analytic, geometric

and numerical approaches.

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