关节i

${\alpha }_{i-1}/{(}^{\circ })$

$a_{i-1}/(\text{mm})$

$d_i/\text{(mm)}$

${\theta }_i/{(}^{\circ })$

1

0

0

d₁

0

2

−90

0

0

θ₂ (−90)

3

−90

0

d₃

θ₃ (−90)

4

90

0

0

θ₄ (−90−p₁)

5

0

0

0

θ₅ (0)

6

0

0

d₆

0