Puma560 - Geometry and building other 6 axis robots

Hello,

I am trying to change the PUMA geometry, basically to create a new robot with 6 joints but I am failing miserably.

What I want to build is rather simple because all the joints must start at the same plane (not like PUMA which have some joints in different planes).

I have attached my drawing of joints. I used the following but it's wrong, when I press home I get "inverse kinematics failed". According to my graph that SHOULD be able to be fit into a puma. I configured the DH parameters like this:

I know already it's wrong (or not correct given the PUMA560 kinematics), because when I try to home it it returns an "invalid kinematic error".

So my question perhaps more GENERICALLY, is there any resource or explanation I can read about how to define these modified DH parameters given a very simple robot like this one?

For example let's say the robot only has 5 segments with the same size and none of them are orthogonal? (which in this case would define just a tube with some torsion).

Thanks in advance for your help, you always have been a source of knowledge when I am in moments despair... :-D

Thanks!
Cheers

this looks like a scara with a robot base
but why
there is a Reason the WORLD uses 6DOF or Scara or even Hexapot
not a mixing of all

you may run in big trouble on the system to be aligned

Well.... the main reason is that I am not a robotic expert

From my notepad the robot should look like the picture I attached.

Not sure if I can fit that inside a puma geometry or not. I believe I should, and that's basically what I am trying to do.

Thanks!
Cheers