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![Polar configuration [5] Jointed-arm configuration: This is a... | Download Scientific Diagram](https://www.researchgate.net/publication/261097609/figure/fig2/AS:667690511380483@1536201231113/Polar-configuration-5-Jointed-arm-configuration-This-is-a-combination-of-cylindrical.png "Polar configuration [5] Jointed-arm configuration: This is a... | Download Scientific Diagram")