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With the aim of relating industrial-SKChsIndustrialSKCh, with their corresponding skeleton, a design methodology is introduced in this chapter. Industrial-SKCh skeleton’s links are defined from their D-H parameters, which are derived by applying the process explained in Sect. 1.3 , then the industrial-SKCh skeletonIndustrialSKChskeleton is assembled from the base-linkLinkbase-link to the end-linkLinkend-link following the transformations given by the forward kinematics equationsForward kinematicsequation. Therefore, this chapter is dedicated to provide the tools to relate solid models of actual industrial-SKCh linksIndustrialSKChlink to their corresponding skeletal links.

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Industrial-SKCh Skeleton’s Design

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  • 发表日期：

    2026年

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  • Max Antonio González-Palacios

摘要

With the aim of relating industrial-SKChsIndustrialSKCh, with their corresponding skeleton, a design methodology is introduced in this chapter. Industrial-SKCh skeleton’s links are defined from their D-H parameters, which are derived by applying the process explained in Sect. 1.3 , then the industrial-SKCh skeletonIndustrialSKChskeleton is assembled from the base-linkLinkbase-link to the end-linkLinkend-link following the transformations given by the forward kinematics equationsForward kinematicsequation. Therefore, this chapter is dedicated to provide the tools to relate solid models of actual industrial-SKCh linksIndustrialSKChlink to their corresponding skeletal links.