The given problem is a 4-DOF robot.

All joints are revolute so therefore the rota

tion about
the z-axis will be the joint variable. Since there are no prismatic joints, the
length of the
link along the z-axis will be zero. The axes were assigned per each joint as you
can see in
the drawing. As said by rule, all joints are represented by z-axis perpendicular
with the x-axis.
Normally, there is no need to assign for y-axis since it is only perpendicular t
o both z and x-axes.
To complete the values on the table, it is a must to follow the necessary motion
s to transform from
one reference frame to the next frame. For the value of "theta",which represents
the rotation about
the z-axis, the first procedure is to rotate the Zn-axis an angle (theta)n+1 in
order to make Xn and
Xn+1 parallel to each other.For every frame, the value of theta is a variable. T
o obtain the
values of "d" per frame which represents the distance on the z-axis between two
successive common normals
(or joint offset) time for step 2. Translate along the Zn-axis to a certain dist
ance to make
Xn and Xn+1 collinear. For 0-1 frame, translating along Z0 to make X0 and X1 col
linear, a distance of
l2 and l3 is needed. For 1-2, translating along Z1 to make X1 and X2 collinear,
a distance of l6 and l7
is needed. For 2-3, translating along Z2 to make X2 and X3 collinear, we used tr
igonometric function
to determine the amount of distance needed giving us (l4+l5)/ sin(beta). For the
last frame 3-H,
translating along Z3 to make Z3 and ZH collinear, a distance of l9 is required.
For the values of "a",
which represents the length of each common normal (the length of a link), all ar
e zero since there are
no prismatic joints as we have mentioned earlier. And lastly for the values of a
lpha, which represents
the angle between two successive z-axes(also called joint twist angle), rotate Z
n-axis about Zn+1 axis
a certain angle to align Zn-axis with Zn+1 axis. For 0-1, rotating Z0 axis about
X1, to align Z0 and Z1,
an angle of -90 degrees is needed. The sign is negative because the rotation is
clockwise.
For frame 1-0, rotating Z1 about X2 to align Z1 and Z2, an angle of beta is need
ed. For 2-3, rotating
Z2 about X3 to align Z2 and Z3, an angle of negative beta is required. For the l
ast frame 3-H, rotating
Z3 about XH, since they are collinear the angle is zero.