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I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint. Following are the schematics of robot and DH frames I have fixed Schematic enter image description here

As X4 axis and X5 axis are intersecting each other, I am not able to capture joint distance variable(di) for the slider. How can I fix this?

Following are the parameters for rest of the frames enter image description here

Updated Frames:enter image description here

I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint. Following are the schematics of robot and DH frames I have fixed Schematic enter image description here

As X4 axis and X5 axis are intersecting each other, I am not able to capture joint distance variable(di) for the slider. How can I fix this?

Following are the parameters for rest of the frames enter image description here

I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint. Following are the schematics of robot and DH frames I have fixed Schematic enter image description here

As X4 axis and X5 axis are intersecting each other, I am not able to capture joint distance variable(di) for the slider. How can I fix this?

Following are the parameters for rest of the frames enter image description here

Updated Frames:enter image description here

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Confusion in fixing DH frames

I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint. Following are the schematics of robot and DH frames I have fixed Schematic enter image description here

As X4 axis and X5 axis are intersecting each other, I am not able to capture joint distance variable(di) for the slider. How can I fix this?

Following are the parameters for rest of the frames enter image description here