关节i

a_i/m

d_i/m

a_i (˚)

θ_i/(˚)

1

0.55

0.7

π/2

−180, 180

2

1.48

0

0

−50, 75

3

0.8

0

0

−140, −36

4

0.43

0

0

−130, 32