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. 2013 Dec 3;13(12):16565–16582. doi: 10.3390/s131216565

Table 1.

Nominal value of kinematic parameters for IRB2400.

Link No. αi/deg ai/mm di/mm θi/deg βi/deg
1 −90 100 615 θ1 0
2 0 705 0 θ2–90 0
3 −90 135 0 θ3–θ2 0
4 90 0 755 θ4 0
5 90 0 0 θ5–180 0
6 0 0 85 θ6 0