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RRRP robot manipulator help

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ekomninos

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Hi,
i am wondering if someone could help me( with link,books,papers) on how to derive the dynamic equations of a 3RP robotic manipulator.To be specific for this manipulator the 3 first dof are those of spherical wrist and the last on is a prismatic one.We shall use the assumption that the centre of mass for its joint is located at its coordinate frame origin.Any ideas about its inertia tensor?
 

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