| 关节 | 关节转角 | 连杆长度 | 连杆偏距 | 关节角 |
| 1 | 0 | 0 | 0 | θ1 |
| 2 | π/2 | 0 | 0 | θ2 |
| 3 | 0 | a2 | d3 | θ3 |
| 4 | π/2 | a3 | d4 | θ4 |
| 5 | π/2 | 0 | 0 | θ5 |
| 6 | π/2 | 0 | 0 | θ6 |
| 7 | π/2 | 0 | 0 | θ7 |