Journal of Robotics / 2016 / Article / Tab 2

Research Article

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

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