Joint

θ_i

(˚)

d_i

(˚)

a_i

(mm)

α_i

(mm)

Range of θ_i

(˚)

1

θ₁

0

a₁ = 100

90

−180 ~ +180

2

θ₂

0

a₂ = 705

0

−100 ~ +110

3

θ₃

0

a₃ = 135

90

−60 ~ +65

4

θ₄

d₄ = 755

0

-90

−200 ~ +200

5

θ₅

0

0

90

−120 ~ +120

6

θ₆

0

0

0

−400 ~ +400