D.H. Parameters v1.1

Denavit Hartenberg (DH) Parameters

1. Standard D-H Parameter

missing

A rotation 𝜃_𝑖 about 𝑧_𝑖−1 axis
A translation 𝑑_𝑖 along the 𝑧_𝑖−1 axis
A translation 𝑎_𝑖 along the 𝑥_𝑖−1 axis
A rotation 𝛼_𝑖 about 𝑥_𝑖−1 axis

	d1	d2	d3	d4	d5	d6	a1	a2
RB5-850	169.2	148.4	148.4	110.7	110.7	96.7	425.0	392.0
RB3-1200	169.2	148.4	148.4	110.7	110.7	96.7	566.9	522.4
RB10-1300	197.0	187.5	148.4	117.15	117.15	115.3	612.7	570.15

Standard(Spong)
link i	θi	di	ai	αi
L1	θ1	d1	0	-90
L2	θ2 - 90	-d2	0	0
L3	0	0	a1	0
L4	θ3	d3	0	0
L5	0	0	a2	0
L6	θ4 + 90	-d4	0	0
L7	0	0	0	90
L8	θ5	d5	0	-90
L9	θ6	-d6	0	90

2. Modified D-H Parameter

missing

A rotation 𝛼_𝑖−1 about 𝑥_𝑖−1 axis
A translation 𝑎_𝑖−1 along the 𝑥_𝑖−1 axis
A rotation 𝜃_𝑖 about 𝑧_𝑖 axis
A translation 𝑑_𝑖 along the 𝑧_𝑖 axis

	d1	d2	d3	d4	d5	d6	a1	a2
RB5-850	169.2	148.4	148.4	110.7	110.7	96.7	425.0	392.0
RB3-1200	169.2	148.4	148.4	110.7	110.7	96.7	566.9	522.4
RB10-1300	197.0	187.5	148.4	117.15	117.15	115.3	612.7	570.15

Modified(Craig)
link i	θi	di	a(i-1)	α(i-1)
L1	θ1	d1	0	0
L2	0	0	0	-90
L3	θ2 - 90	-d2	0	0
L4	0	0	a1	0
L5	θ3	d3	0	0
L6	0	0	a2	0
L7	θ4 + 90	-d4	0	0
L8	θ5	d5	0	90
L9	θ6	-d6	0	-90
L10	0	0	0	90

3. Standard D-H Parameter For S-pipe Type

missing

A rotation 𝜃_𝑖 about 𝑧_𝑖−1 axis
A translation 𝑑_𝑖 along the 𝑧_𝑖−1 axis
A translation 𝑎_𝑖 along the 𝑥_𝑖−1 axis
A rotation 𝛼_𝑖 about 𝑥_𝑖−1 axis

missing

Standard(Spong)
link i	θi	di	ai	αi
L1	θ1	d1	0	-90
L2	θ2 - 90	-d2	0	0
L3	0	0	a1	0
L4	θ3 + 90	d3	0	0
L5	0	0	0	90
L6	θ4	d4	0	-90
L7	0	-d5	0	0
L8	θ5	d6	0	90
L9	θ6	d7	0	0