Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis

Table 1

Six-link manipulator design.

S. number
1	0	0	0.4	0.74	0.32	0.18	0.55
2	0.97	2.20	−0.4	0.43	0.48	0.69	−0.87
3	0.64	1.99	−0.37	0.03	0.9	0.94	−0.38
4	0.55	1.99	−0.19	−0.14	1.44	0.77	0.54
5	0.77	1.49	−0.24	−0.14	1.26	0.5	0.92
6	0.99	1.49	−0.41	0.07	0.6	0.38	0.70