Journal of Control Science and Engineering / 2010 / Article / Tab 1

Research Article

Modeling and Control of a Dragonfly-Like Robot

Table 1

D-H Dragonfly model.

𝑋 𝑍
aα [degrees]dθ [degrees]

1000θ 1–90°
20−90°0θ 2
3090°090°
4 𝐿 1 −90°0θ 3
5000θ 4
6090°0θ 5
7 𝐿 1 0 𝐿 2 θ 6
8 𝐿 1 0 𝐿 2 θ 7
9090°0−90°
10090°0θ 8
11090°0θ 9
12 𝐿 1 - 𝐿 3 0 𝐿 2 θ 10
13 𝐿 1 - 𝐿 3 0 𝐿 2 θ 11
14090°0−90°
15090°0θ 12
16090°0θ 13