Performance Analysis and Optimization of a 6-DOF Robotic Crusher

Figure 9

The boundary curves of position workspace. (a) ( = 0,  = 2.52°, (Z) = −45). (b) ( = 2.52°,  = 0,  = −4.47°, (Z) = −45). (c) ( = 0,  = −2.52°, (Z) = −45). (d) ( = −2.52°,  = 0,  = 4.47°, (Z) = −45).

(a)

(b)

(c)

(d)