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I am trying to build a robot which is having Bevel Gears connecting two links. I want to calculate DH parameters, but i am stuck with this bevel gear as when the joint rotates both angle and displacement are being changed.

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  • $\begingroup$ Could you add a diagram of the links? $\endgroup$
    – andy mcevoy
    Oct 12, 2021 at 14:16

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When you think about the mechanism the gears are offset, but the joint itself has an axis. You should use that axis which may not be overlapping/coincident with the link attached to the bevel gear.

I found a few tutorials that you may find useful:

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