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Lite6
Kinematic and Dynamic Parameters of UFACTORY Lite 6
Last updated
Kinematic and Dynamic Parameters of UFACTORY Lite 6
Last updated
1. Modified D-H Parameters
| Size Parameters: (unit:mm) | Joint Coordinate Definition |
|---|---|
| Kinematics | theta offset(deg) | d(mm) | alpha(deg) | a(mm) |
|---|---|---|---|---|
2. Standard D-H Parameters
| Size Parameters: (unit:mm) | Joint Coordinate Definition |
|---|---|
| Kinematics | theta offset(deg) | d(mm) | alpha(deg) | a(mm) |
|---|---|---|---|---|
3. Mass Parameters
| Size Parameters: (unit:mm) | Joint Coordinate Definition |
|---|---|
| Dynamics | Mass(kg) | Center of Mass(mm) |
|---|---|---|
Joint1
0
243.3
0
0
Joint2
-90
0
-90
0
Joint3
-90
0
180
200
Joint4
0
227.6
90
87
Joint5
0
0
90
0
Joint6
0
61.5
-90
0
Joint1
0
243.3
-90
0
Joint2
-90
0
180
200
Joint3
-90
0
90
87
Joint4
0
227.6
90
0
Joint5
0
0
-90
0
Joint6
0
61.5
0
0
Link1
1.411
[-0.36, 41.95, -2.5]
Link2
1.34
[179.0, 0.0, 58.4]
Link3
0.953
[72.0, -35.7, -1.0]
Link4
1.284
[-2.0, -28.5, -81.3]
Link5
0.084
[0.0, 10.0, 1.9]
Link6
0.13
[0.0, -1.94, -10.2]
