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Table 1 Denavit–Hartemberg parameters of extra robotic thumb [22]

From: Modification of body schema by use of extra robotic thumb

d \(\theta\) r (mm) \(\alpha\)
0 0 12 0
0 \(\theta _1\) 17 \(\frac{\pi }{2}\)
0 \(\theta _2\) 34 0
0 \(\theta _3\) 36.6 \(-\frac{\pi }{2}\)