Link No. | D-H Parameter |
| ||
α(i-1) (degrees) | a(i-1) (mm) | di (mm) | θi (degrees) | |
0 | 0 | 0 | 0 | 0 |
1 | 0 | AB | 0 | θ1 |
2 | 0 | BH | 0 | θ2 |