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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

\(-\frac{\pi }{2}\)