4 Degree of Freedom
Robot Manipulator
Geometric Modeling

Please complete the Denavit-Hartenberg table for the 4-DOF robot you wish to model:

The angles alpha and theta must be in degrees.

D-H Parameters

d

a

alpha

theta

Joint Type

Joint 1

d1:

a1:

alpha1:

theta1:

Revolute
Translational

Joint 2

d2:

a2:

alpha2:

theta2:

Revolute
Translational

Joint 3

d3:

a3:

alpha3:

theta3:

Revolute
Translational

Joint 4

d4:

a4:

alpha4:

theta4:

Revolute
Translational

Robot End-effector Orientation Choices

Please enter the desired end-effector orientation in the robot home position

+X

-X

+Y

-Y

+Z

-Z

Reset DH values

For an explanation of the 3D models generated by Robot Draw, see the model rules page.

Go to the Main Robot Modeling Page

Last Modified in September 1997 by Dr. Rachid Manseur