Axis (i)

${\alpha }_i$

$a_i$

$d_i$

${\theta }_i$

1

0

0

0

${\theta }_1$

2

−90˚

500

0

${\theta }_2$

3

0

1700

0

${\theta }_3$

4

−90˚

180

2850

${\theta }_4$

5

90˚

0

0

${\theta }_5$

6

−90˚

0

0

${\theta }_6$