Optimizing Workspace for Homogeneous Assemblies of Rotational Motion Modules

The workspace of serial kinematic structures is a basic feature determining their usability and application versatility. It is one of the main parameters determining technical viability and practical applicability of such structures. For this reason, it is necessary to pay close attention to its shape, size and reach of the end effector. There are a number of options in the construction of modular systems, and it is these options, that our paper examines. Through simulation, the authors analyze impacts of structural parameters on the resulting workspace of a homogeneous, modular, serial kinematic structure with 5DOF (Degrees of Freedom).