... by axis 2. (Courtesy of KUKA.) FIGURE 28.13 Modular robot system consisting of rotary and translatory axis modules, grippers, and configurable control software. (Courtesy of Amtec.) 230305421012342410100514054101000286686545© ... robot structure can be determined as follows:V = 6 DOF where V = number of variations and DOF = number of degrees of freedom. A large number of different chains can be built; for example, 46,656 ... safety, and reduction of work in progress. 28.2.3.2 Robot Workcell Planning and Design Once the desired benefits and requirements are identified, specification, commissioning, and theprocess of...