Author Topic: How to deal with a helical joint or screw pair joint when assigning DH paramete  (Read 1737 times)

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Offline mikealpha85Topic starter

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Hi all
I have a helical joint( screw pair ) and I need to assign the DH parameters to it , to start with the forward kinematics . I was thinking of using a revolute joint series with a prismatic joint ( i.e. compound joint ) but should I treat them when assigning coordinates as separate joints ( revolute joint number 1 , prismatic number 2 ) an advice here would be invaluable .
Thanks Everyone

 


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