Methods of Identifying the Workspace of Modular Serial Kinematic Structures

Abstract

The article analyzes the possibility of automatized generation of workspace resulting from random movement of the end module of a serial kinematic chain by means of numerical mathematical analysis. The methodology is applicable to physical structures with various degrees of freedom of movement. The newly proposed concept of a universal rotation modulus with an optimized 90° interface curvature provides the possibility to construct such physical structures, and the referred methodology identifies their main feature - the scope and shape of workspace.