Plotting an elbow robot manipulator workspace

Hello,

I want to plot a surface representing the workspace of an elbow robot manipulator (3R). I've got the equations show below from forward kinematics. When I evaluate for angles in the XZ plane (i.e. with q1=0), all things keep right. The real problem is when i try to draw this sort of revolution surface changing the value of q1 to anything different of zero, as it makes growing the graph in Z.

q1=linspace(0,2*pi,100);
q2=linspace(0,-pi/2,100);
q3=linspace(0,-deg2rad(135),100);

[Q1]=meshgrid(q1);
[Q2,Q3]=meshgrid(q2,q3);

x=-cos(Q1).*(sin(Q2)+sin(Q2+Q3));
y=-sin(Q1).*(sin(Q2)+sin(Q2+Q3));
z=cos(Q2)+cos(Q2+Q3);
mesh(x,y,z)

Is there any chance I'm doing things right? The original equations for the end effector are these

x=-cos(q1)*((sin(q2)+sin(q2+q3)) y=-sin(q1)*((sin(q2)+sin(q2+q3)) z=cos(q2)+cos(q2+q3)

Thanks in advance, Arturo Urquizo

[Abraham Serrano]

Hola Arturo! Como has estado? Espero que me recuerdes, soy Abraham Serrano y fui tu alumno en el Tec laguna. De casualidad encontré tu pregunta en los foros porque estoy buscando algo similar, desafortunadamente nadie te respondio pero espero que hayas podido resolver tu problema. Yo necesito hacer lo mismo pero estoy trabajando con un brazo robotico de 4 articulaciones. ¿Crees poder ayudarme? Gracias de antemano

[Mihir Andharia]

Can you please tell me how to plot workspace of Stewart platform?