Research on Space Robot Workspace

An approach which combines numerical simulation with graphic method is proposed in this paper toward space robot workspace solution.The MonteCarlo method based on random probability is adopted during numerical simulation,while at the same time introducing impact testing algorithm and slice method.Numerical simulation obtains workspace nephogram provided that the links and base don't impact on any given tangent plane,and the nephogram's edge is determined by graphic method.This approach thus boasts the advantages of both numerical simulation and graphic method,ensuring a wide applicable range and accurate workspace edge.