The fundamental equations for conducting workspace analysis of a class of manipulators having the last three revolute joint axes intersect orthogonally at a point are provided in this paper. These equations are intended for application of the basic theory given in [1] and are concisely arranged in tables. Several examples are included illustrating the use of the tables and equations for determining (a) the boundary surfaces, (b) the surfaces separating the regions of different order of accessibility, and (c) the boundaries due to joint motion limitation.
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Spanos et al. (1985) studied this question.
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