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| Paramètres de Denavit-Hartenberg× | Conception pour la fabrication et l'assemblage× | |
|---|---|---|
| Domaine | Fabrication | Fabrication |
| Famille | Process / pipeline | Process / pipeline |
| Année d'origine≠ | 1955 | 1994 |
| Auteur d'origine≠ | Denavit, J. and Hartenberg, R. S. | Boothroyd, G., Dewhurst, P. |
| Type≠ | Mathematical convention for describing articulated mechanisms | Systematic approach to cost-effective product design |
| Source fondatrice≠ | Denavit, J., & Hartenberg, R. S. (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics, 22(2), 215-221. link ↗ | Boothroyd, G., Dewhurst, P., & Knight, W. A. (1994). Product Design for Manufacturing and Assembly (1st ed.). Marcel Dekker. ISBN: 0-8247-9157-6 |
| Alias | DH parameters, DH convention, Robot kinematics convention | DFMA, Design for manufacturability, DFA |
| Apparentées | 4 | 4 |
| Résumé≠ | The Denavit-Hartenberg (DH) convention is a systematic mathematical method for assigning coordinate frames to the links of an articulated robot or mechanism, enabling compact representation and computation of forward and inverse kinematics. Introduced by Denavit and Hartenberg in 1955, this method uses only four parameters per joint to describe the spatial relationship between adjacent links, dramatically simplifying kinematic analysis and control of complex multi-jointed systems. | Design for Manufacturing and Assembly (DFMA) is a systematic methodology for creating products that are inherently easier and less expensive to manufacture and assemble. Developed by Boothroyd, Dewhurst, and Knight, DFMA evaluates design choices based on their impact on production cost, quality, and speed, guiding designers toward solutions that balance performance, manufacturability, and economics. |
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