Table 1 Parameters of DH model of two series joints
From: Improved Stiffness Modeling for An Exechon-Like Parallel Kinematic Machine (PKM) and Its Application
|  | \(\beta\) (°) | d (mm) | α (°) | b (mm) |
|---|---|---|---|---|
1 | 0 | 0 | 0 | − 20 |
2 | \(\beta_{1}\) | 417 | 90 | − 35 |
3 | \(\beta_{2}\) | 0 | − 90 | − 150 |
4 | 0 | 190 | 0 | 0 |