So this is a kinematic diagram of the CM6 robotic arm. you can see that robot has a spherical wrist since axes Z5, Z4, and Z3 always intersect.
And here is DH table!
I also always like to have written what does every parameter mean since I forget every time so here they are! :D
Link offset = distance Zi-1 from Oi-1 to the intersection with Xi.
Link Length = Distance from Oi-1 and Oi measured along Xi
θ THETA = Rotation around Zi-1 to get Xi-1 to match Xi
α ALPHA = Rotation around Xi to get Zi-1 to match Zi (We are rotating frame Oi-1 around Xi)