cos ( t 1 ) 0 sin ( t 1 ) 320 cos ( t 1 )

sin ( t 1 ) 0 −cos ( t 1) 320 sin ( t 1 )

0 1 0 355
0 0 0 1

co s ( t 2 ) −sin ( t 2 ) 0 870 co s ( t 2 )
si n ( t 2 ) co s ( t 2 ) 0 870 si n ( t 2 )
0 0 1 0
0 0 0 1

co s ( t 3 ) 0 si n ( t 3 ) 235 co s ( t 3 )
si n ( t 3 ) 0 −co s ( t 3 ) 235 si n (t 3 )
0 1 0 0
0 0 0 1

co s ( t 4 ) 0 −si n ( t 4 ) 0
si n ( t 4 ) 0 co s ( t 4 ) 0
0 1 0 1020
0 0 0 1
 cos ( t 1 ) 0 sin ( t 1 ) 320 cos ( t 1 )
sin ( t 1 ) 0 −cos ( t 1) 320 sin ( t 1 )
=
0 1 0 355
0 0 0 1
r 0 0 r 0 1 r 0 2 a0
r 1 0 r 1 1 r 1 2 b0
= r 20 r 11 r 22 c 0
0 0 0 1
12

α a ᶲ d
1 90 320 T1 355
2 0 870 T2 144.5
3 90 235 T3 0
4 -90 0 T4 1020