Solution

1.

You can also do as follows. Find out the solution by yourself.

X3 X3
Y3
Y3 Z3 out Z3 into page
Z0,1
Y2 X2 X2

X1 X1
Y2
Z0,1 Z2 out Z2 into page

X3
Y3

Z3 into page

X2

X1
Y2
Z0,1 Z2 into page
2.

If all X axes point out of page, what is the solution? Find out the solution by yourself.
Change the directions of Z4, Z5 or Z6. Find out the solution by yourself.

3.
Z3
X3 out of the page γ

Z0,1
α
Y3 Z4

X4
X1
Z5

Z2 X5
β Y2
X2 out of page
If X2 and X3 axes point into the page, what is the solution? Find out the solution by yourself.
Change the directions of Z axes. Find out the solution by yourself.

4.

X2
X3
Z3 out of page
Z2

X1
Z0,1 out of page
Y1

a1

Change the directions of Z axes. Find out the solution by yourself.

5.

X3
Z1
X2 d3 Z3
Y1

Z2

a2

Change the directions of Z axes. Find out the solution by yourself.

Method 1:
Method 2:
Case a:

αi-1 ai-1 di θi

0 0 0 θ1

−90o 0 L1 θ2

0 L2 0 θ3
The initial state is: θ2=−90 o

Case b:

αi-1 ai-1 di θi

0 0 0 θ1

90o 0 − L1 θ2

0 L2 0 θ3
o
The initial state is: θ2=90