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D.H. Parameters v1.1

Denavit Hartenberg (DH) Parameters


1. Standard D-H Parameter

missing

  • A rotation 𝜃𝑖 about 𝑧𝑖−1 axis
  • A translation 𝑑𝑖 along the 𝑧𝑖−1 axis
  • A translation 𝑎𝑖 along the 𝑥𝑖−1 axis
  • A rotation 𝛼𝑖 about 𝑥𝑖−1 axis
d1d2d3d4d5d6a1a2
RB5-850169.2148.4148.4110.7110.796.7425.0392.0
RB3-1200169.2148.4148.4110.7110.796.7566.9522.4
RB10-1300197.0187.5148.4117.15117.15115.3612.7570.15
Standard(Spong)
link iθidiaiαi
L1θ1d10-90
L2θ2 - 90-d200
L300a10
L4θ3d300
L500a20
L6θ4 + 90-d400
L700090
L8θ5d50-90
L9θ6-d6090

2. Modified D-H Parameter

missing

  • A rotation 𝛼𝑖−1 about 𝑥𝑖−1 axis
  • A translation 𝑎𝑖−1 along the 𝑥𝑖−1 axis
  • A rotation 𝜃𝑖 about 𝑧𝑖 axis
  • A translation 𝑑𝑖 along the 𝑧𝑖 axis
d1d2d3d4d5d6a1a2
RB5-850169.2148.4148.4110.7110.796.7425.0392.0
RB3-1200169.2148.4148.4110.7110.796.7566.9522.4
RB10-1300197.0187.5148.4117.15117.15115.3612.7570.15
Modified(Craig)
link iθidia(i-1)α(i-1)
L1θ1d100
L2000-90
L3θ2 - 90-d200
L400a10
L5θ3d300
L600a20
L7θ4 + 90-d400
L8θ5d5090
L9θ6-d60-90
L1000090

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

missing

  • A rotation 𝜃𝑖 about 𝑧𝑖−1 axis
  • A translation 𝑑𝑖 along the 𝑧𝑖−1 axis
  • A translation 𝑎𝑖 along the 𝑥𝑖−1 axis
  • A rotation 𝛼𝑖 about 𝑥𝑖−1 axis

missing

Standard(Spong)
link iθidiaiαi
L1θ1d10-90
L2θ2 - 90-d200
L300a10
L4θ3 + 90d300
L500090
L6θ4d40-90
L70-d500
L8θ5d6090
L9θ6d700