| 关节 | α (˚) | a (mm) | d (mm) | θ (˚) |
| 1 | 90 | 200.0 | 0 | 0 |
| 2 | 90 | 210.0 | 0 | 0 |
| 3 | −90 | 230.0 | 0 | −90 |
| 4 | 0 | 210.0 | 1420.0 | 0 |
| 5 | 0 | 210.0 | 1420.0 | 90 |
| 6 | 90 | 220.0 | 0 | 0 |
| 7 | −90 | 270.0 | 0 | 0 |