Operations Research, Systems Engineering and Industrial Engineering Commons^™

The Reconfigurable Machinery Efficient Workspace Analysis Based On The Twist Angles, Ana M. Djuric, Vukica Jovanovic, Mirjana Filipovic, Ljubinko Kevac

Engineering Technology Faculty Publications

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 end-effector 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 …