Utilizing the Functional Work Space Evaluation Tool for Assessing a System Design and Reconfiguration Alternatives

Abstract

The 'boundary of space' model representing all possible positions which may be occupied by a mechanism during its normal range of motion (for all positions and orientations) is called the work envelope. In the robotic domain, it is also known as the robot operating envelope or workspace Several researchers have investigated workspace boundaries for different degrees of freedom (DOF), joint types and kinematic structures utilizing many approaches (