Figure 2.

Range-of-motion simulation results. Simulation results calculating the total range of motion of the IPM robot end-effector via inverse kinematics iteration on the Stanford Sherlock supercomputing cluster. Axes and scale for each view are indicated. (a) Three-dimensional iteration, with a fixed, neutral orientation, absent of rotation, and a resolution of 0.11 mm. (b) Six-dimensional iteration with a resolution of 3.33 mm and 3.75°. Greater opacity and red colour indicate a higher relative frequency of reachable orientations for a given position with a maximum reachable orientation frequency of 0.56. For reference, a relative frequency rate of reachable orientations of 1 indicates a position where every permutation of orientations with the bounds of [−π/2, π/2] for each axis is reachable. The dynamic range of the reachable orientation percentages was exponentially tuned for better visibility.