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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