Skip to main content
ROBOMECH Journal

Table 1 D-H parameters of arm (unit: mm)

From: Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

i

a i–1

\(\partial_{i - 1}\)

d i

θ i

1

0

0

0

θ 1

2

90°

0

0

θ 2

3

0

490 (l1)

78 (d3)

θ 3

Back to article page