The shoulder joint requires reinforcement by two servo motors in order to increase the torque driven through the joint, to counteract the weight of objects in the gripper. The other three motors each drive their own joint. There is a, a vertical shoulder joint (driven by two coupled motors), a vertical elbow joint, a vertical wrist joint, and a motor that drives the opening and closing of the two-fingered gripper. In total, it has a total of five degrees of freedom. rotational base joint is driven by geared dc motor.
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