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Consider the spherical arm(RRP)in Figure below. Notice that the origin of Frame 0 was located at the intersection of Z0with Z1so that d1 = 0; analogously, the origin of Frame 2 was locatedat the intersection between Z0with Z1.

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Explanation:

Consider the spherical arm(RRP)in Figure below. Notice that the origin of Frame 0 was located at the intersection of Z0with Z1so that d1 = 0; analogously, the origin of Frame 2 was locatedat the intersection between Z0with Z1.

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