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. 2017 Oct 23;17(10):2426. doi: 10.3390/s17102426

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© 2017 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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The illustration of the manipulator motion parameters. In the figure, $J_{1}$ represents the shoulder joint; $J_{2}$ represents the wrist joint; and $J_{3}$ represents scissors. $Δ θ_{1}$ and $Δ θ_{2}$ represents the rotation angle of the shoulder and wrist joint; h represents the current height of the scissors; $L_{a}$ represents the length of the manipulator.