The PRRRRR spatial open chain of Figure 4.13 is shown in its zero position. Determine the...

 

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The PRRRRR spatial open chain of Figure 4.13 is shown in its zero position. Determine the end-effector zero position configuration M, the screw axes Si in {0}, and the screw axes Bi in {b}. {0} L₁ 0₁ 20 {0} ko o j ŷo L2 032-* 041 h L3 L 0₁ | The spatial RRPPRR open chain of Figure 4.15 is shown in its zero position. Determine the end-effector zero position configuration M, the screw axes Si in {0}, and the screw axes Bi in {b}. LA L Def Xb 06 {b} Ꮎ 05 06 Foo Zb L {b} The PRRRRR spatial open chain of Figure 4.13 is shown in its zero position. Determine the end-effector zero position configuration M, the screw axes Si in {0}, and the screw axes Bi in {b}. {0} L₁ 0₁ 20 {0} ko o j ŷo L2 032-* 041 h L3 L 0₁ | The spatial RRPPRR open chain of Figure 4.15 is shown in its zero position. Determine the end-effector zero position configuration M, the screw axes Si in {0}, and the screw axes Bi in {b}. LA L Def Xb 06 {b} Ꮎ 05 06 Foo Zb L {b}