Modeling and Control of a Dragonfly-Like Robot

Table 1

D-H Dragonfly model.

	𝑋		𝑍
	a	α [degrees]	d	θ [degrees]
1	0	0	0	θ 1–90°
2	0	−90°	0	θ 2
3	0	90°	0	90°
4	−𝐿1	−90°	0	θ 3
5	0	0	0	θ 4
6	0	90°	0	θ 5
7	𝐿1	0	𝐿2	θ 6
8	𝐿1	0	−𝐿2	−θ 7
9	0	90°	0	−90°
10	0	90°	0	θ 8
11	0	90°	0	−θ 9
12	𝐿1-𝐿3	0	𝐿2	θ 10
13	𝐿1-𝐿3	0	−𝐿2	−θ 11
14	0	90°	0	−90°
15	0	90°	0	θ 12
16	0	90°	0	−θ 13