《Table1 Fixture{O}coordinate system D-H》

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《Stroke optimization of a novel multi-station rotary polishing robot based on workspace analysis》

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Since the X and Z axes of the O&apos；coordinate system are just exchanged with the O coordinate system，and the O coordinate system is in the middle，the O&apos；coordinate system is outside，furthermore the X and Z axes of the two coordinate systems haveΔX andΔZ offset.So the polishing wheel relative to the fixture coordinate system is shown in the following Eq.（9）.