A method for the optimum design of manipulator workspace is provided based on a recently established criterion. Analytical and computer-aided procedures are presented for the determination of the geometrical proportions of a manipulator for optimum workspace. An effective algorithm is developed by combining a heuristic optimization technique and a computer program for kinematic analysis of manipulators. Two problems are investigated. The first is concerned with the optimum design of a manipulator that has three revolute joints and a spherical joint at the wrist, called the RRRS manipulator; the second is concerned with the problem of design improvement for five commercial robots for larger workspace volume. The potential applicability of the procedure is demonstrated.
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Yang et al. (1984) studied this question.