Table 4.
Range of motion.
| Joint | Working range | ||
| Joint number, deg |
|
||
|
|
Joint 1 | ±360 | |
|
|
Joint 2 | –118~120 | |
|
|
Joint 3 | –225~11 | |
|
|
Joint 4 | ±360 | |
|
|
Joint 5 | –97~180 | |
| Maximum speed, deg/s | 180 | ||
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