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. 2019 Aug 21;19(17):3632. doi: 10.3390/s19173632

Figure 3.

Figure 3

Representation of the SCORBOT ER VII. With Vicon axis system represented with the red (X), green (Y) and blue (Z) arrows. Sections of the scorebot: (1) Base—lower part of robot which rotates 310 about the z-axis, (2) Shoulder—connects to the base by way of a joint which rotates 35–130 about the y-axis, (3) Elbow—connects to the shoulder by way of a joint which also rotates 130 about the y-axis, (4) Wrist—connected to the elbow and gives the robot its final two degrees of freedom, rotating 360 about the z-axis and 130 about the y-axis, and (5) Gripper—the end effector attached to the wrist and capable of opening and closing.