Joint i | \(\boldsymbol{\theta_{i}}\) ( \(\boldsymbol{{}^{\circ}}\) ) | \(\boldsymbol{\alpha_{i}}\) ( \(\boldsymbol{{}^{\circ}}\) ) | \(\boldsymbol{a_{i}}\) (mm) | \(\boldsymbol{d_{i}}\) (mm) | \(\boldsymbol{\beta_{i}}\) ( \(\boldsymbol{{}^{\circ}}\) ) |
---|---|---|---|---|---|
1 | 0.00 | \( \underline{90}\underline{.}\underline{00} \) | \( \underline{350}\underline{.}\underline{00} \) | 0.00 | - |
2 | \( \underline{0}\underline{.}\underline{00} \) | \( \underline{0}\underline{.}\underline{00} \) | \( \underline{0}\underline{.}\underline{00} \) | - | λ |
3 | \( \underline{-90}\underline{.}\underline{00} \) | \( \underline{90}\underline{.}\underline{00} \) | \( \underline{145}\underline{.}\underline{00} \) | \( \underline{0}\underline{.}\underline{00} \) | - |
4 | \( \underline{0}\underline{.}\underline{00} \) | \( \underline{-90}\underline{.}\underline{00} \) | \( \underline{0}\underline{.}\underline{00} \) | μ | - |
5 | \( \underline{0}\underline{.}\underline{00} \) | \( \underline{90}\underline{.}\underline{00} \) | \( \underline{0}\underline{.}\underline{00} \) | \( \underline{0}\underline{.}\underline{00} \) | - |
6 | 180.00 | 180.00 | 0.00 | −170.00 | - |