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Evaluating the Work Window using a Unified Robot Model

This paper explores the work envelope and the work window for two 6 serial axis robot families using a unified robot model. The work envelope, or workspace, represents all possible positions which may be occupied by a mechanism during its normal range of motion (for all positions). The work window is the reachable region for any given end effector orientation and is a subset of the work envelope. It is not intuitive to define, and when assessing feasibility strategies for process planning scenarios, needs to be readily determined for various kinematic configurations. A methodology to determine the reach feasibility of a desired configuration set is presented in this research. The unified model developed using Maple and Matlab is presented. Several examples are shown to demonstrate the affect of twist angles on to the shape of a robot work window. This important kinematic property needs to be used in cases of robot selection and as a tool design feature.