Can anyone help me out with DH parameters and axis placement for below kinematic chain?below is the lynx robot kinematic chain

solved dh parameters

  • $\begingroup$ I'll soon post my axis placement and DH parameters(which are wrong).Any help is greatly appreciated. $\endgroup$ – Vishal Nov 2 '18 at 6:42
  • $\begingroup$ Welcome to Robotics, Vishal. Please do post the work that you've done so far. Does the drawing you posted show the robot with all joints at their zero position? You don't have any x or y axes drawn on the figure, except the base and end effector, and the joint for $\theta_5$ isn't dimensioned. $\endgroup$ – Chuck Nov 2 '18 at 13:09
  • $\begingroup$ Hi there,above shown is the question that i was given. I'm working on creating axis and parameters. Previously done work was horribly wrong so resisted myself from posting it.I'll post a respectable copy of work so that i can get some inputs. $\endgroup$ – Vishal Nov 2 '18 at 13:16
  • $\begingroup$ hi, please find attached uploaded image in which i have tried to solve for dh parameters. the first image shows the robot in zero pose. i request you all to correct me wherever i have gone wrong from frame assignment to parameters values. thanks in advanced. $\endgroup$ – Vishal Nov 5 '18 at 9:21

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