The optimization of the workspace of reduction robot

Abstract

This paper presents a method to estimate the workspace volume of a reduction robot and an optimization model is established to achieve a larger workspace. To calculate and compare the workspace volume under different structure parameters, a method is proposed to search the border of the workspace. This model shows the influence of the moving platform radius and the length of the legs on the workspace of the robot: while the moving platform keeps an angle position of (5, 5, 5), the smaller the moving platform radium is, the larger the robot workspace would be; the workspace would enlarge several times, if the legs' length range increases from 70mm to 100mm. We selected a group of more reasonable structure parameters to improve the robot workspace.