Graphics Reference
In-Depth Information
A
LB
C
C
A
A
LC
LA
B
B
1
B
2
LB
B
3
FIGURE B.30
Incorporating a ball-and-socket joint.
y
Joint
A
Joint
B
ball-and-socket
z
y
x
z
z
x
y
x
z
Joint
C
LA
x
z
x
x
y
zero-length links
y
LB
FIGURE B.31
Coordinate axes induced by the DH representation of a ball-and-socket joint.
Table B.4
Joint Parameters for Ball-and-socket Joint
Joint/Parameter
Link Displacement
Joint Angle
Link Length
Link Twist
A
0
y
A
0
0
B1
0
y
B1
LA
90
B2
0
90 รพ y
B2
0
90
B3
0
y
B3
0
0
C
0
y
C
LB
0
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