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![robotic arm blueprint - Stock Illustration [68245644] - PIXTA](https://en.pimg.jp/068/245/644/1/68245644.jpg "robotic arm blueprint - Stock Illustration [68245644] - PIXTA")
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A unified design for lightweight robotic arms based on unified description of structure and drive trains - Haibin Yin, Shansheng Huang, Mingchang He, Junfeng Li, 2017
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