Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Table 2

The D-H parameters of the cooperative robot.

Link i		(mm)
1	0	0	420	0
2	Pi/2	0	0	Pi/2
3	Pi	254	0	Pi/2
4	Pi/2	0	469	0
5	Pi/2	0	111	0
6	-Pi/2	0	251	0