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

Table 4

Seven-link manipulator design for server room environment.

S. number
1	0	0	−2.72	0.81	−0.26	−0.35	1.89
2	2.49	15.99	0.00	−0.58	0.08	−2.9	−0.89
3	1.05	14.99	0.58	0.50	−0.36	0.53	0.56
4	−0.28	13.99	0.19	−0.07	−0.42	−0.06	2.80
5	1.19	12.97	0.26	−0.82	0.09	0.01	1.79
6	1.33	11.97	−0.04	0.45	0.04	−0.01	−0.43
7	0.73	10.98	0.11	0.06	−0.66	−0.00	−0.25