Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Link parameters</td><td class="align_center">Joint parameters</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left"><i>a</i>: link length</td><td class="align_center"><i>d</i>: distance between links</td></tr><tr><td class="align_left"><i>α</i>: link twist</td><td class="align_center"><i>ϴ</i>: angle between links</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Denavit–Hartenberg link parameters.</div>

Mathematical Problems in Engineering

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Table 1

Table 1: Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist 