Research Article
Modeling and Control of a Dragonfly-Like Robot
Table 1
D-H Dragonfly model.
| | | | | 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 | | −90° | 0 | θ 3 | 5 | 0 | 0 | 0 | θ 4 | 6 | 0 | 90° | 0 | θ 5 | 7 | | 0 | | θ 6 | 8 | | 0 | | −θ 7 | 9 | 0 | 90° | 0 | −90° | 10 | 0 | 90° | 0 | θ 8 | 11 | 0 | 90° | 0 | −θ 9 | 12 | | 0 | | θ 10 | 13 | | 0 | | −θ 11 | 14 | 0 | 90° | 0 | −90° | 15 | 0 | 90° | 0 | θ 12 | 16 | 0 | 90° | 0 | −θ 13 |
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