If the three rotation joints of 3P3R type robot are intersecting orthogonal at one common point, it is called as Decoupled-3P3R, the setup can be done as the following:
Set 3P3R See document : 3P3R robot.docx
Two 3P3R robots have been set up and are attached in here:
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GENERAL_3P3R was developed for a custom cell and it can support the decouple_3P3R too, so these two types of 3P3R can be merged into one in long term, but we keep "decouple_3P3R" for the time being for avoiding any risk of affecting the other cells. |
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