连杆i

${\theta }_i$

${\alpha }_{i-1}$

$d_i$

$a_{i-1}$

1

${\theta }_{\text{1}}$

0

0

0

2

${\theta }_{\text{2}}$

-pi/2

$d_2$

0

3

${\theta }_{\text{3}}$

0

0

$a_2$

4

${\theta }_{\text{4}}$

-pi/2

$d_4$

$a_3$

5

${\theta }_{\text{5}}$

Pi/2

0

0

6

${\theta }_{\text{6}}$

-pi/2

0

0