Table 3 The DH parameters of wrist rehabilitation robot.
\(\:{i}\) | \(\:{{\alpha\:}}_{{i}-1}\left({d}{e}{g}\right)\) | \(\:{{a}}_{{i}-1}\left({m}{m}\right)\) | \(\:{{d}}_{{i}}\left({m}{m}\right)\) | \(\:{{\theta\:}}_{{i}}\left({d}{e}{g}\right)\) |
|---|---|---|---|---|
\(\:1\) | \(\:-90\) | \(\:0\) | \(\:0\) | \(\:-90+{\theta\:}_{1}\) |
\(\:2\) | \(\:90\) | \(\:0\) | \(\:0\) | \(\:90+{\theta\:}_{2}\) |
\(\:3\) | \(\:90\) | \(\:0\) | \(\:0\) | \(\:180+{\theta\:}_{3}\) |
\(\:{E}{E}\) | \(\:0\) | \(\:{a}_{3}\) | \(\:0\) | \(\:0\) |
