Coordinate system | Link | Motion relative to previous link | Matrixi−1Ai |
S0 | Platform | Fixed link |
|
S1 | Base (Geometric link) | Translation along the Z0-axis at height H | 0A1 = A3(H) |
S2 | Joint S (Kinematic link) | Rotation around the Z1-axis at angle φ | 1A2 = A6(φ) |
S3 | Joint S (Geometric link) | Translation along the X2-axis on sx | 2A3 = A1(sx) |
S4 | Joint S (Geometric link) | Translation along the Z3-axis on sz | 3A4 = A3(sz) |
S5 | Joint L (Kinematic link) | Rotation around the Y4-axis at angle ψ1 | 4A5 = A5(ψ1) |
S6 | Joint L (Geometric link) | Translation along the Z5-axis on lz | 5A6 = A3(lz) |
S7 | Joint U (Kinematic link) | Rotation around the Y6-axis at angle ψ2 | 6A7 = A5(ψ2) |
S8 | Joint U (Geometric link) | Translation along the X7-axis on ux | 7A8 = A1(ux) |
S9 | Joint U (Geometric link) | Translation along the Z8-axis on uz | 8A9 = A3(uz) |
S10 | Joint R (Kinematic link) | Rotation around the X9-axis at angle θ1 | 9A10 = A4(θ1) |
S11 | Joint R (Geometric link) | Translation along the X10-axis on rx | 10A11 = A1(rx) |
S12 | Joint B (Kinematic link) | Rotation around the Y11-axis at angle ψ3 | 11A12 = A5(ψ3) |
S13 | Joint B (Geometric link) | Translation along the X12-axis on bx | 12A13 = A1(bx) |
S14 | Joint T (Kinematic link) | Rotation around the X13-axis at angle θ2 | 13A14 = A4(θ2) |
S15 | Joint T (Geometric link) | Translation along the X14-axis on tx | 14A15 = A1(tx) |