Research Article
Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist
Table 2
Comau NM45 DH parameters.
| Link | Link length , m | Twist angle , deg | Joint offset | Joint angle , deg |
| 1 | L1 = 0.4 | 90 | D1 = 0.75 | | 2 | L2 = 0.75 | 0 | 0 | | 3 | L3 = 0.25 | 90 | 0 | | 4 | 0 | −90 | D4 = 0.8124 | | 5 | 0 | 90 | 0 | | 6 | 0 | 0 | D6 = 0.175 | |
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