The reconfigurable machinery efficient workspace analysis based on the twist angles

A novel methodology for the calculation, visualisation and analysis of the Reconfigurable Machinery Efficient Workspace (RMEW), based on the twist angles, is presented in this paper. The machinery’s kinematic parameters are used for calculating the workspace, while the efficient workspace is associated with the machinery’s path and includes the endeffector position and orientation. To analyse and visualise many different machinery efficient workspaces at the same time, the calculation is based on the previously developed and validated complex reconfigurable machinery’s kinematic structure named n-DOF Global Kinematic Model (n-GKM). An industrial robot is used as an example to demonstrate an application of n-GKM model. It is calculated only for the tool’s perpendicular orientation relative to the floor. Four different kinematic configurations based on twist angles (αi) were selected to demonstrate the outcomes. Their graphical representations show how the twist angles significantly affect the shape and size of the efficient workspace. RMEW can be used as a design tool for new machinery’s kinematic structure and layout design. This methodology can be applied for any tool orientation.