# DH- Parameters of BCN3D Arm

Consider the following Arm:

https://www.bcn3dtechnologies.com/en/bcn3d-moveo-the-future-of-learning/


I looked for the DH-Parameters of this arm and I found this:

https://github.com/BCN3D/BCN3D-Moveo/issues/15


Although I don't think that this is correct because I think that the first Alpha should not be 0.

P.S: A clear photo of the arm:

• Welcome to Robotics, AchrafAhmedBelkhiria. Can you please edit your question to clarify what your problem is? Please also include a diagram of the robot with the joints clearly labeled, including the axis/frame definitions. As it stands, it's not clear how your joint diagram relates to the picture you posted. – Chuck Jul 31 '17 at 15:48
• Sorry but I don't have a 3D concept of the arm or a labeled diagram for the joints. I thought by seeing this photo someone could help me with guessing the right DH-Parameters. I tried myself to find them on my own with the help of wikipedia but I can tell I did not succeed. Although, the DH-Paramters I posted from Github are probably wrong, because the alpha of j1 is 0 and we can clearly see that they don't have the same axis of rotation. – Achraf Ahmed Belkhiria Jul 31 '17 at 17:10
• If you don't have a model for the robot, then I'm not sure I understand what the point of the exercise is. Why calculate DH parameters for a robot you don't have? Also, it's not clear to me what the joints are; I think I only see 5 joints in the picture - an azimuth, two elevation, an azimuth, and an elevation, for lack of more descriptive terminology. Your ASCII joint diagram shows a link 1 L1 between J1 and... what? Also, you posted a link to the GitHub page where the DH parameters were found; why not just ask the person that created them? – Chuck Jul 31 '17 at 17:45
• I did a similar simulation using SolidWorks: youtube.com/watch?v=crJXUlzJ918 – LCarvalho Feb 19 '18 at 20:09