frame assigment and table 3-DOD RRP J2-ads J1-axis L2Li dı d3 J3-axis No 2 arm No.1 am Fig.(2) J2-ads J1-axis L2Li dı d3 J3-axis No 2 arm No.1 am Fig.(2)

Question

Question

frame assigment and table
J2-ads J1-axis L2Li dı d3 J3-axis No 2 arm No.1 am Fig.(2)

3-DOD RRP

Answer 1

Answer #1

θ n : Rotation about Zn to align χη Kn+1 dn: Offset between origin of nth frame 2 and (ntI)th frame in Zn direction anti: Off

Answer 2

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