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Journal of Robotics
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Journal of Robotics
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2020
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Article
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Tab 1
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Research Article
Design and Research of Automatic Tool Changer System for Multistation Spring Forming Machine
Table 1
D-H parameter table.
θ
D
a
Α
0–1
θ
1
0
0
−90
1–2
θ
2
d
2
0
90
2–3
0
d
3
0
−90
3-H
90
d
4
0
0