Denavit-Hartenberg parameters for robot arm links 2 and 5

[chipzfreak]

Homework Statement

Denavit-Hartenberg Coordinate System impossible

Relevant Equations

Basic knowledge of DH conventions

Dear all,

I am momentarily designing a robot arm and I will use the Denavit-Hartenberg convention to model my arm (see picture).

The problem I have, however, is that I cannot seem to define the robot arm in the parameters of a, d, alpha and theta. It could be that my coordinates are not correct, but I could not find an error there. The problems I encounter are arising at links 2 and 5. Could someone enlighten me with what I am doing wrong?

Thank you in advance,

Thomas

 

[sysprog]

There's not enough information in your illustration or explanation of what your problem is, and I don't know anything about this in particular anyway, but I skimmed the Wikipedia article, and it had a link to the following video: