Devising a method to analyze the current state of the manipulator workspace

This paper has proposed a program analysis method over the current state of workspace an anthropomorphic manipulator using Mathcad software application package (USA). The helped solve following sub-tasks: to calculate limits grip reach, determine presence "dead zones" within workspace, build boundaries workspace. A kinematic scheme typically provides for at least five degrees mobility, which is why in three-dimensional Cartesian coordinate system work zone represent surfaces complex geometric shape. author-devised makes it possible construct projections manipulator's onto planes frame reference associated with base robot.
 Using Mathcad's built-in features effectively above sub-tasks without wasting time developing specialized software. possibility symbolic solution first problem kinematics industrial robot, that is, generates analytical dependences coordinates special point P (pole) on trigonometrical functions generalized coordinates. resulting are used and dynamic manipulator.
 Special constructing mathematical models when have been revealed. Simulating movement taking into consideration constraints pairs, drives' power, as well friction factors, optimize parameters scheme.
 An example working space mobility considered.
 reported results could be during design, implementation, modernization, operation manipulators.