Robotic Configuration

I have a robot which is having littlebit different configuration than
serial321. The first Three axes are same as of serial ZXX........ ie first
rotation abt Z axis then next two joints rotation are abt Xaxis (2nd and
3rd) . But the 4th axis is also parallel to 2nd and 3rd axes which is
different from your serail321 configuration.  5th axis is Perpendicular to
4th axis.  and is wrist rotation. 6th is for gripper opening /closing.
How can it be defined in Kinematicfactory.hpp  and where else I have to
mention its parameters.
The base height is 3" (inches) , Shoulder is 4.75", elbow length is 4.75",
Wrist joint to end effector is 5.75"

H.S.Randhawa

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