Abstract
The study of the workspaces of a manipulator is both valuable and difficult. As the number of links increases the resultant expressions get more and more cumbersome to manipulate as multi-parameter families. We consider here a manipulator with only revolute joints and an arbitrary number of links, and derive an outer boundary for the workvolume. In general manipulators will have at most six links, since this provides full flexibility, but it is not a requirement. This paper describes an algorithm for finding the boundary of the reachable volume of an arbitrary revolute joint manipulator, and applies it to some examples.
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