i

$a_{i-1}/\text{mm}$

${\alpha }_{i-1}/\text{rad}$

$d_i/\text{mm}$

${\theta }_i/\text{rad}$

1

0

0

$d_1$

0

2

0

0

$d_2$

${\theta }_2$

3

$a_2$

0

$d_3$

${\theta }_3$

4

$a_3$

0

$d_4$

${\theta }_4$