ROBOT-DRAW
6 Degree of Freedom
Robot Manipulator
Geometric Modeling

Please enter the Denavit-Hartenberg (D-H) parameters below.

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

Joint 5

d5:

a5:

alpha5:

theta5:

Revolute
Translational

Joint 6

d6:

a6:

alpha6:

theta6:

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

Pressing reset will restore the default geometric model of the Puma 560 robot.

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

Go to the Main Robot-Draw Page

Last Modified in September 1997