Byung Oh Choi

Document Type

Thesis - Open Access

Award Date


Degree Name

Master of Science (MS)

Department / School

Mechanical Engineering

First Advisor

Bashir A. Sayer


The choice of kinematic and dynamic parameters for a robot arm depends on the desired working space, desired load lifting capacity, and desired performance of the robot. The inverse process, which is the determination of a single robot's work space from given specifications, is also possible, and is very important both to the designers and to the users. Proceeding further, the analysis of the common work space of two robot arms expands our understanding of spatial limitations of the communicating, cooperative robots of the future. This thesis presents a new possible application of industrial robots in which two robots work together interactively, or individually, within their common work space. Kinematic equations of anthropomorphic articulated robot arms are derived by using homogeneous 4 X 4 transformation matrices. Based on these equations, the possible working boundaries of two-revolute and three-revolute jointed robot arms are defined. Based on the geometric influence coefficients, the common working areas and volumes of two-link and three-link robot arms are investigated and calculated. The calculations and plotting of these areas and volumes are performed on a digital computer. The results reached show that the common working areas and volumes of two fixed identical robots depend on the distance between their bases. area (face-to-face orientation) Maximum common working occurs at an optimum distance, but the maximum common working volume occurs when the two robots are at the exact same position. Realistically, this means the robots should be placed as near to each other as practical if it is desired to maximize their common working volume.

Library of Congress Subject Headings

Robots, Industrial



Number of Pages



South Dakota State University


No Copyright - United State