Design and optimization of 3R manipulators using the workspace features

The objective of this work is to contribute with a study of the workspace boundary of manipulators with three-revolute joints (3R). An optimization problem is formulated in which the workspace volume is the objective function. Penalties are imposed to minimize the voids and control the total area, forcing it to occupy a pre-established area. Numerical examples are given and the optimization problem is investigated using sequential techniques.