Posture prediction and optimization for a manual assembly operation involving lifting of weights | International Journal for Simulation and Multidisciplinary Design Optimization (IJSMDO)

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Table 1

DH parameter and limiting position for 20 DOF model.

D-H Parameters					Limiting position

Joints DOF	θ _i	d_i	α _i	a_i	Neutral position	Lower limit	Upper limit
1	−q₁	0	0	L₁	0	−50	38
2	q₂	0	0	L₂	0	0	135
3	q₃	0	−π	0	0	−18	113
4	−q₄	0	0	L₁	0	−18	113
5	q₅	0	0	L₂	0	0	135
6	q₆	0	− π	0	0	−50	38
7	q₇	0	0	L₃	0	−19	56
8	q₈	0	0	0	0	−30	40
9	q₉	0	π/2	0	0	−60	170
10	−q₁₀	0	π/2	0	0	−18	80
11	q₁₁	0	π/2	−L7	0	−20	97
12	−q₁₂	0	π/2	−L₈	0	0	140
13	−q₁₃	0	π/2	0	0	−70	80
14	q₁₄	0	π/2	−L₉	0	−30	20
15	q₁₅	0	π/2	0	0	−60	170
16	−q₁₆	0	π/2	0	0	−18	80
17	q₁₇	0	π/2	−L7	0	−20	97
18	−q₁₈	0	π/2	−L₈	0	0	140
19	−q₁₉	0	π/2	0	0	−70	80
20	q₂₀	0	π/2	−L₉	0	−30	20

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