Performance Analysis and Optimization of a 6-DOF Robotic Crusher

Figure 10

The boundary curves of orientation workspace. (a) ( = 9.5,  = (Z) = 0,  = 0), (b) ( = −4.9,  = −14.4, (Z) = 0,  = −4.47°), (c) ( = −19.2,  = (Z) = 0, γ = 0), (d) ( = −4.9,  = 14.4, (Z) = −10,  = 4.47°).

(a)

(b)

(c)

(d)