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321 kinematic structure
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<h2 id="external-links">External links</h2> <ul><li><a href="https://web.archive.org/web/20100106074814/http://www.roble.info/robotics/serial/html/SerialRobots-1se4.html">321 Kinematic Structure</a></li></ul> <h2 id="references">References</h2> <ol> <li id="fn:1"><p>D. L. Pieper, The kinematics of manipulators under computer control. PhD thesis, Stanford University, Department of Mechanical Engineering, 1968. <a href="https://web.archive.org/web/20160924184009/http://www.dtic.mil/cgi-bin/GetTRDoc?AD=AD0680036" target="_blank">https://web.archive.org/web/20160924184009/http://www.dtic.mil/cgi-bin/GetTRDoc?AD=AD0680036</a> <a href="#fnref:1" class="footnote-back-ref">↩</a></p></li> </ol>