Table 2 D-H parameters
From: Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains
Joint i | ai | αi | di | θi | |
|---|---|---|---|---|---|
1 | d1 | 90 | 0 | θ1 | |
2 | 0 | 90 | d2 | θ2 | |
3 | 0 | 0 | l1 | θ3 | |
4 | 0 | 0 | l2 | θ4 | |
From: Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains
Joint i | ai | αi | di | θi | |
|---|---|---|---|---|---|
1 | d1 | 90 | 0 | θ1 | |
2 | 0 | 90 | d2 | θ2 | |
3 | 0 | 0 | l1 | θ3 | |
4 | 0 | 0 | l2 | θ4 | |