New answers tagged dh-parameters
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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:
https://blog.robotiq.com/how-to-calculate-a-robots-forward-kinematics-in-5-easy-steps
https://automaticaddison....
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