Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot

Table 1

Denavit-Hartenberg parameters of the robotic arm.

Rod
1	0	0°		0°
2	0	90°		90°
3	0	90°
4	0	0°		180°
5	0	90°	0
6		90°		0°

is the known quantity .