连杆i

${\alpha }_i(˚)$

$a_i\left(\text{m}\right)$

${\theta }_i(˚)$

$d_i\left(\text{m}\right)$

1

90

0

θ₁

0

2

0

0.4318

θ₂

0.1491

3

−90

0.0203

θ₃

0

4

90

0

θ₄

0.4318

5

−90

0

θ₅

0

6

0

0

θ₆

0