关节

$\theta /\text{rad}$

$d/\text{mm}$

$a/\text{mm}$

$\alpha /\text{rad}$

1

${\theta }_1$

290

0

π/2

2

${\theta }_2$

0

270

0

3

${\theta }_3$

0

70

-π/2

4

${\theta }_4$

302

0

π/2

5

${\theta }_5$

0

0

-π/2

6

${\theta }_6$

72

0

π/2