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robot diagram

list of types

What type of robot is depicted in the below picture. I can rule out Cartesian as there is revolute joints.

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It seems to be basically a SCARA robot. It's just that the tool tip has an odd extra degree of freedom.

Is the axis of rotation of $\theta_3$ really about the tip, or is it further up at the $L_2$ joint?

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  • $\begingroup$ unsure from diagram $\endgroup$
    – B Hart
    Apr 11, 2023 at 16:29

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