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. Author manuscript; available in PMC: 2014 Oct 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2013 Oct:1612–1624. doi: 10.1109/TMECH.2012.2209671

TABLE III.

Solutions of the Direct Kinematics Using q1 = 20 and q2 = 13.5 mm

b1x [mm] b1z [mm] α [degrees] β [degrees]
−21.8862 49.5743 −47.2136 −33.3805
20.1284 56.7577 27.8091 24.7484