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Contributions to the geometric and kinematics modeling of serial modular portal robots with TRTTR structure

For an industrial serial portal robot with TRTTR structure for which the geometrical-constructive dimensions are known, determining the workspace means finding the acceptable positions of the end-effector. The functional perturbations of the motions of the motor couples cause deviations from the desired trajectory and also deviations of the velocities and accelerations of the couples.