Figure 4.
Workspace of a hinge with a limited range of rotation. (Xd1Yd1Zd1) represents the frame of reference at the distal end of Segment 1, (Xp2Yp2Zp2) represents the frame of reference at the proximal end of Segment 2. (X′Y′Z′) is an intermediate frame of reference obtained by rotating (Xd1Yd1Zd1) by an angle of α0 about its Z axis followed by rotating the current frame an angle of β0 about its X axis. (XhYhZh) is obtained by rotating (X′Y′Z′) an angle of γ0 about its Z axis.