Table 3.1 Conditions
(i = 1, 2,
for No-Hole Workspace
3.5 Workspace of the Manipulator
The subworkspace analysis results in the equations of
the subworkspace i (i = 1, 2, 3) with respect to the local
fixed coordinate system oixiYizi. Using coordinate
transformation matrix Agi from the global fixed system OXYZ
to the above-mentioned system, oixiYizi, we transform these
equations to be expressed with respect to the global system
OXYZ.
xi
Yi
zi
1
r
Agi
(3.24)
In the case, for example, where the axes of the three
R-L actuator joints are arranged in equilateral triangle
form on the base as shown in Fig. 3.37, the matrices Agi (i
= 1, 2, 3) are as follows: