4. Enumeration and classification of cuspidal and non-cuspidal robots
4.1 Simple geometrical conditions leading to non-cuspidal robots
Several simple geometric conditions leading to non-cuspidal 3R robots have been established. Some of these conditions correspond to "solvable" robots in the sense of Pieper ,
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Enumeration and classification of cuspidal and non-cuspidal robots
Enumeration and classification of cuspidal and non-cuspidal robots
Study of some parallel cusp robots
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