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PKM tree


may I ask how the tree of PKM XMINI was made ? I need it to coop with analytical equations .

the closed loop parallel structure is confusing me a lot
It is not possible to create or modify PKM type of robots by end users.

PKM robots are not open architecture and we would work with Exechon if a new robot model is available.
thanks for responding Mr.Albert .
It's okay ,I do not want to modify or create .I just want to see its tree or any other parallel robot like ABB irb 360

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