= Kinematics = The following images show the kinematic frames for the GuardianWAM in the zero position. For kinematic frames for the WAM portion of the system, please refer to [/WAM/KinematicsJointRangesConversionFactors|Kinematics, Transmission Ratios, and Joint Ranges]. [[Image(frontProfileWithWheels.png)]] [[Image(profileWithoutWheels.png)]] [[Image(topWithWheels.png)]] [[Image(topWithoutWheels.png)]]