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<p>We examined mechanism design and kinematic simulation of a new six degrees of freedom (DOF) robotic arm with rotational joints and a linkage motion mechanism. In the design, a parallel linkage mechanism, accompanied by an additional set of bevel gears, was used to create the desired motion for all six links along with transfer of all actuators to the robot's base to reduce the mass of most of the arms. These changes resulted in reduction of the torque required for joints 1, 2, and 3. Usingdoi:10.11591/ijra.v5i1.pp35-48 fatcat:54qsbvcorvem5mqpkzhyh6djvi