Table 1: Denavit-harttenberg parameters of each omni device.
Index j |
Parameters and Value Ranges |
|||
αj-1 |
aj-1 |
dj |
θij |
|
1 |
0° |
0 |
135 mm |
θi1 ϵ [-55°, 55°] |
2 |
-90° |
0 |
0 |
θi2 ϵ [-101°, 0°] |
3 |
0° |
137 mm |
0 |
θi3 ϵ [108°, 223°] |
4 |
90° |
0 |
137 mm |
θi4 ϵ [-133°, 133°] |
5 |
-90° |
0 |
0 |
θi5 ϵ [-154°, -17°] |
6 |
90° |
0 |
0 |
θi6 ϵ [-146°, 146°] |