| 序号 | θ | d | a | α | ca | sα | 关节活动范围 |
| 0.1 | 0 | 0 | 0 | 90˚ | 0 | 1 | 0 |
| 1.2 | Θ1 | 0 | L1 | 90˚ | 0 | 1 | −70˚~10˚ |
| 2.3 | 90˚ | 0 | L2 | 90˚ | 0 | 1 | 0 |
| 3.4 | Θ2 | 0 | L3 | 0 | 0 | 1 | 0˚~120˚ |
| 4.5 | Θ3 | 0 | L4 | 0 | 0 | 1 | 0˚~120˚ |