Hello,
I am trying to derive the DH parameters of educational 5DOF robotic arm(picture attached). I drew the dimensions of the robotic arm as I could. A tentative solution of DH table is attempted, kindly could you point out any mistakes please?
Thank you
Saviour Muscat
I am trying to derive the DH parameters of educational 5DOF robotic arm(picture attached). I drew the dimensions of the robotic arm as I could. A tentative solution of DH table is attempted, kindly could you point out any mistakes please?
| Theta | Alpha | R | D |
N1 | Theta1-90 | -90 | a2=12mm | a1+a3=75mm+20mm |
N2 | Theta2 | 0 | 0 | a4=105mm |
N3 | Theta3 | 0 | a5=150mm | 0 |
N4 | Theta4+90 | 90 | 0 | 0 |
N5 | Theta5 | 0 | a7=5mm | a6=150mm |
Thank you
Saviour Muscat
