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This paper analyses the workspace of the three-revolute orthogonalmanipulators that have at least one of their DH parameters equal to zero. Thesemanipulators are classified into different groups with similar kinematicproperties. The classification criteria are based on the topology of theworkspace. Each group is evaluated according to interesting kinematicproperties such as the size of the workspace subregion reachable with fourinverse kinematic solutions, the existence and the size of voids, and the sizeof the regions of feasible paths in the workspace.

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications