Table 1 D–H parameters
From: A multi-jointed underactuated robot hand with fluid-driven stretchable tubes
Joint i | α i | l i | d i | θ i | Range of θ i /° |
|---|---|---|---|---|---|
0 | 0 | l 0 | 0 | θ 0 | − 60 to 90 |
1 | 0 | l 1 | 0 | θ 1 | 0–90 |
2 | 0 | l 2 | 0 | θ 2 | 0–90 |
… | … | … | … | … | … |
6 | 0 | l 6 | 0 | θ 6 | 0–90 |
7 | 0 | l 7 | 0 | θ 7 | 0–90 |