image/svg+xml
1*
2
3
4
5
6
7*
1*
2
3
4
5*
1*
2
3
4
5*
Base
Travelling Plate
= Pin / Revolute (f )
1
= Ball (f )
3
= Universal (f )
2
Joints
1
2
3
Original NUWAR Armn = 17, f = 21, f = 0, f = 0Mobility = -4
Variation #1n = 11, f = 3, f = 0, f = 12Mobility = 9
Variation #2n = 11, f = 3, f = 6, f = 6Mobility = 3
* The base and travelling plate are common to all 3 arms
1
2
3
1
2
3