Solution:

Joint Parameters:

Joint angle:

The angle of rotation from the Xi-1 axis to the X-axis about the Zi-1 axis. It is the joint variable if joint I rotary.

Joint distance:

The distance from the origin of the (i-1)coordinate system to the intersection of the Zi-1 axis and the Xi axis along the Zi-1 axis. It is the joint variable if joint I am prismatic.

Link Parameters:

Link length :

The distance from the intersection of the Zi-1axis and the Xi axis to the origin of the ith coordinate system along the Xi axis.

Link twist angle :

The angle of rotation from the Zi-1 axis to the Ziaxis about the Xi axis.