Need help to find DH parameters

  • Hello,

    Could you help me to find the DH parameters of the following kinematic please?

    I tried to calculate the coordinates of the point O6 with the values shown in the table below but the result is not correct.

    I suppose the alpha angles are not correct.. Or maybe I have not set the axes orientation well.. I am only sure about Zi

    Joint values (Theta) are all 0° for the kinematic as drawn here.

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