Lamination strengthens wood by gluing layers at right angles enhancing stability ... Difficult to cut by hand Biscuit joints are easier to make than dovetail joints and provide a solid connection ...

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It limits the overhang angle to 45° or a value you specify in with the angle ... Two parameters control the roundover, k and joint. The joint parameter is the distance from where the rounding starts ...

These are functions of the joint-angle variables θi, i = 1, 2, 3. Also, derive the constant (3, H)T by inspection: The origin of {H} is in the center of the gripper fingers, and the orientation of {H} ...