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

Table 2

Nine-link manipulator design with conventional twist angles.

S. number
1	0	0	−0.51	0.41	1.39	3.00	−2.32
2	−1.48	3.06	−0.75	0.77	−2.89	2.01	−1.01
3	−0.01	0.61	−0.23	0.69	2.80	1.74	0.00
4	−1.49	1.99	0.99	0.39	1.34	−0.61	−0.50
5	−1.51	1.79	0.86	0.34	−2.17	−2.66	2.85
6	1.55	1.95	−0.51	0.39	−1.15	−2.99	−1.10
7	−0.01	1.91	−0.28	0.44	1.15	−2.50	0.91
8	0.09	1.81	0.32	0.49	−0.76	−2.98	−0.72
9	0	1.89	0.27	0.50	0.011	−1.13	−0.01