| $i$ | $alpha_i$ | $a_i$ | $theta_i$ | $d_i$ |
|---|---|---|---|---|
| 1 | $90degree$ | $0$ | $theta_1$ | $d_1$ |
| 2 | $0$ | $a_2$ | $theta_2$ | $0$ |
| 3 | $0$ | $a_3$ | $theta_3$ | $0$ |
| 4 | $0$ | $0$ | $theta_4$ | $d_4$ |
| Numeric: |
| $i$ | $alpha_i$ | $a_i$ | $theta_i$ | $d_i$ |
|---|---|---|---|---|
| 1 | $90degree$ | $0$ | $theta_1$ | 76.5 |
| 2 | $0$ | 130 | $theta_2$ | $0$ |
| 3 | $0$ | 124 | $theta_3$ | $0$ |
| 4 | $0$ | $0$ | $theta_4$ | $146.6$ |