Can anyone provide me with a Paper that models 3 dof robot?

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Demilade D. Dinakin

Hello Amin

Check this link

https://www.researchgate.net/publication/239545045_Design_and_Application_of_a_3_DOF_Bionic_Robot_Arm

You could also download this file

Artur I. Karimov

Hello, Amin

Here some publications dedicated to the educational SCORBOT robot which may be useful for you

Article End-effector position analysis of SCORBOT-ER Vplus robot

Article Analytical Solution for Inverse Kinematics of SCORBOT- ER-Vplus Robot