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Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy

Vladimir T. Portman
Vladimir T. Portman
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ASME Press
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The FSF of the planar 3-DOF RRR robot-manipulator (Fig. 7.1) consists of six links (n = 6), among them three kinetmatic links rotating around the parallel axes and three geometric links fixing the distances between parallel axes. According to Eqs. (4.16-20), the FSF of the robot is

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