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Development of a 6 DOF Parallel Serial Hybrid Manipulator

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Academic year: 2021

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Figure

Figure 1 – Multidisciplinary nature of robotics
Figure 2 shows an example of a serial robot (KUKA 650 Industrial Manipulator) with 6 DOF
Figure 6 - Example of Type I Configuration            Figure 7 - Example of Type II Configuration   To  use  any  of  the  above  mechanisms,  parameters  such  as  stiffness,  workspace  range,  weight  balances,  event  of  collision  of  links  and  the
Table 1: D-H Parameters for Serial Arm  i  α i-1  a i-1 d i θ i
+7

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