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

Table 5

Synthesis result: tasks included both specified position and orientation.

S. number
1	17.4	0.70	−2.1	0.17	0.93
2	17.2	0.11	−1.4	0.31	1.41
3	15.8	1.16	−0.08	0.50	0.53
4	15.8	1.40	1.8	0.10	−0.55
5	16.1	1.01	1.07	−0.43	0.36
6	16.6	0.95	2.6	−0.25	0.90
7	18.7	1.00	3.1	0.76	−0.08