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Table 1 Parameters of DH model of two series joints

From: Improved Stiffness Modeling for An Exechon-Like Parallel Kinematic Machine (PKM) and Its Application

  \(\beta\) (°) d (mm) α (°) b (mm)
1 0 0 0 − 20
2 \(\beta_{1}\) 417 90 − 35
3 \(\beta_{2}\) 0 − 90 − 150
4 0 190 0 0