Workspace
The workspace of a robot, also called operating space, refers to the space of
the configurations (positions and orientations) that the end-effector or
ending tool of the robot can reach and operate within.
The size and shape of the workspace depend on several aspects such as the
joint types, links length and the tool used in the end effector.
The workspace of a robot can then vary depending on its type, configuration,
and intended application, such that it is limited by the finite reach of a
physical robot and possibility of collision between different parts of the
robot as it moves (joint limits)
For planar robots, the workspace is a surface on the plane (subset of ℝ² X S¹) ,
while for spatial robots It’s a volume in 3D (subset of ℝ³ X S³).
Manufacturers provide the workspace of robots in their datasheets, in the
shape of diagrams that represent the reach of the wrist regardless of the
orientation or length of the tool.
Workspace examples
Robotic Arm:
Workspace: The region of space that the end-effector of the robotic arm
can reach and operate within.
Example: A robotic arm used in a manufacturing setting to manipulate
objects on a workbench. The workspace would encompass the volume
of space over the workbench that the arm can access.
Mobile Robot:
Workspace: The area that the mobile robot can navigate and move
within.
Example: A wheeled mobile robot deployed in a warehouse for
inventory management. The workspace would include the aisles and
storage areas that the robot can traverse to perform tasks such as
inventory scanning and item retrieval.
Quadcopter:
Workspace: The volume of space that the drone can fly and maneuver
within.
Example: A quadcopter drone used for aerial photography and
surveillance. The workspace would comprise the airspace in which the
drone can operate, subject to altitude limits, flight regulations, and
battery life constraints.
work envelope
Work Envelope is the range of motion achieved by the robot manipulator. The
shape and volume of the work envelope are determined by the robot arm’s length and
what type of joints it possesses. Each joint contributes its own range of motion, whether
in a linear movement along one or two axes or a rotary or revolutionary movement in
three-dimensional space. As a result, work envelope shapes may be rectangular, cubic,
cylindrical, polar, or revolute, among others. A work envelope is generally defined
as how far the robot arm’s end-effector mounting plate can reach vertically,
horizontally, and backward. The dimensions do not include the additional reach granted
by tools attached to the robot wrist. Any unreachable area beyond the work envelope is
referred to as a dead zone.
A robot’s work envelope is a critical consideration because it defines the space
in which the robot can operate. You want to select a robot that can cover the work area
required and perform the tasks you have in mind. For instance, do you need a robot that
can handle large components? If so, you need a large-scale machine with a longer
manipulator. On the other hand, your operation may require tasks in a contained space
involving tiny objects. This calls for a more diminutive robot able to work with greater
dexterity. Keep in mind that 6-axis robots offer the most complex range of motion of any
industrial robot. This makes them a popular choice for manufacturing automation across
various industries.
Robot Working Envelopes
Different Robot configurations generate characteristic working envelope
shapes. This working envelope is important when selecting a Robot for a
particular application since it dictates:-Care should be exercised when
interpreting the working envelope of a Robot, for a number of reasons.
a. the working envelope refers to the working volume which can be
reached by some point at the end of the Robot arm, this point is usually the
centre of the end effector mounting plate. It excludes any tools or work piece
which the end effector may hold.
b. There are often areas within the working envelope which cannot be
reached by the end of the Robot arm. Such areas are termed dead zones.
c. The maximum quoted payload capacity can only be achieved at
certain arm spans this may not necessarily be at maximum reach.
