WORKSPACES OF A WALKING MACHINE AND THEIR GRAPHICAL REPRESENTATION .1. KINEMATIC WORKSPACES

This paper addresses the kinematic workspaces of a walking machine and their graphical representation. The workspaces for walking machines a re defined and the methods for investigating various workspaces are pr esented; the kinematic workspace constraints are established; the disp lacement is analysed; an algorithm for investigation of kinematic work spaces is presented; and the position and orientation kinematic worksp aces are analysed and graphically represented for an example walking m achine design.