Table 2 Definition of joint variables

From: Virtual straightening of scraper conveyor based on the position and attitude solution of industrial robot model

Joint variable Definition
Joint angle (\({{\varvec{\theta}}}_{{\varvec{i}}}\)) The angle of rotation of the \({x}_{i-1}\) axis around the \({x}_{i}\) axis
Joint distance (\({{\varvec{d}}}_{{\varvec{i}}}\)) The distance between the \({x}_{i-1}\) axis and the \({x}_{i}\) axis along the \({z}_{i-1}\) axis
linkage length (\({{\varvec{a}}}_{{\varvec{i}}}\)) The distance between the \({z}_{i-1}\) axis and the \({z}_{i}\) axis along the \({z}_{i}\) axis
Twist angle of connecting rod (\({\partial }_{{\varvec{i}}}\)) The angle of rotation of the \({z}_{i-1}\) axis about the \({z}_{i}\) axis