手法を比較

	デナヴィット・ハーテンバーグパラメータ	製造・組立配慮設計
分野	製造工学	製造工学
系統	Process / pipeline	Process / pipeline
提唱年	1955	1994
提唱者	Denavit, J. and Hartenberg, R. S.	Boothroyd, G., Dewhurst, P.
種類	Mathematical convention for describing articulated mechanisms	Systematic approach to cost-effective product design
原典	Denavit, J., & Hartenberg, R. S. (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics, 22(2), 215-221.	Boothroyd, G., Dewhurst, P., & Knight, W. A. (1994). Product Design for Manufacturing and Assembly (1st ed.). Marcel Dekker. ISBN: 0-8247-9157-6
別名	DH parameters, DH convention, Robot kinematics convention	DFMA, Design for manufacturability, DFA
関連	4	4
概要	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.