Skip to main content

Table 1 DH parameters for the first leg

From: Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator

θdaα (°)
0x1090
x2 + 900090
x3 + 900090
x40− a− 90
x5 − 9000− 90
x6 − 9000− 90
x7000