Table 1 DH parameters for the first leg
From: Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator
θ | d | a | α (°) |
|---|---|---|---|
0 | x1 | 0 | 90 |
x2 + 90 | 0 | 0 | 90 |
x3 + 90 | 0 | 0 | 90 |
x4 | 0 | − a | − 90 |
x5 − 90 | 0 | 0 | − 90 |
x6 − 90 | 0 | 0 | − 90 |
x7 | 0 | 0 | 0 |