Kinematic diagram of the robot and Denavit-Hartenberg parameters

A project log for CM6 - Compliant 3D printed robotic arm

Cheap, safe, and compliant 6 - Axis 3d printed robotic arm based on Quasi direct drive BLDC drives.

Petar CrnjakPetar Crnjak 03/12/2021 at 18:010 Comments

So this is a kinematic diagram of the CM6 robotic arm. you can see that robot has a spherical wrist since axes Z5, Z4, and Z3 always intersect. 

And here is DH table!

I also always like to have written what does every parameter mean since I forget every time so here they are! :D

Link offset = distance Zi-1 from Oi-1 to the intersection with Xi.

Link Length = Distance from Oi-1 and Oi measured along Xi

θ THETA = Rotation around Zi-1 to get Xi-1 to match Xi

α ALPHA = Rotation around Xi to get Zi-1 to match Zi (We are rotating frame Oi-1 around Xi)