how to draw the robot workspace

I need to draw the robot workspace.
2 links antropomophic arm.
here there are some examples to what I have to do.
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There are some tools or some software to do this?
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You need a 3D CAD. SolidWorks comes to mind.
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've never used it, though.
-- Randy M. Dumse
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Caution: Object in mirror are more confused than they appear.
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