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UFactory 850
Kinematic and Dynamic Parameters of UFACTORY 850
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Last updated
Kinematic and Dynamic Parameters of UFACTORY 850
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[x,y,z]-Modified DH Coordinate System |
|---|---|---|
Joint1
0
364
0
0
Joint2
90
0
90
0
Joint3
90
0
180
390
Joint4
0
426
-90
150
Joint5
0
0
-90
0
Joint6
0
90
90
0
Joint1
0
364
90
0
Joint2
90
0
180
390
Joint3
90
0
-90
150
Joint4
0
426
-90
0
Joint5
0
0
90
0
Joint6
0
90
0
0
Link1
4.811
[-0.049, 13.92, -20.31]
Link2
3.166
[327.98, 0.074, 6.48]
Link3
2.247
[130.23, 105.18, 8.97]
Link4
2.12
[0.016, -38.47, -98.3]
Link5
1.346
[-0.42, -17.6, -1.42]
Link6
0.225
[0.15, 1.38, -13.97]
