Table 1 D-H parameters of the folding boom system.

From: Posture configuration optimization method and system for folding booms of the pump truck under life extension control

Joint i

li-1/m

βi-1/°

Li/m

αi/°

Joint i

li-1/m

βi-1/°

Li/m

αi/°

1

0

0

L1

α1

5

l4

0

L5

α5

2

l1

90

L2

α2

6

l5

0

L6

α6

3

l2

0

L3

α3

7

l6

0

L7

α7

4

l3

0

L4

α4

8

l7

0

L8

α8

  1. βi represents the rotation angle from Zi to Zi+1 along Xi. Li represents the distance from Xi-1 to Xi along Zi.
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