# xArm 5 Lite

Kinematic and Dynamic Parameters of xArm 5 Lite

**1. Modified D-H Parameters**

Kinematics | theta (rad) | d(mm) | alpha(rad) | a(mm) | offset(rad) |
---|---|---|---|---|---|

Joint1 | 0 | 267 | 0 | 0 | 0 |

Joint2 | 0 | 0 | -pi/2 | 0 | T2_offset |

Joint3 | 0 | 0 | 0 | a2 | T3_offset |

Joint4 | 0 | 0 | 0 | a3 | T4_offset |

Joint5 | 0 | 97 | -pi/2 | 0 | 0 |

**2. Standard D-H Parameters**

Kinematics | theta(rad) | d(mm) | alpha(rad) | a(mm) | offset(rad) |
---|---|---|---|---|---|

Joint1 | 0 | 267 | -pi/2 | 0 | 0 |

Joint2 | 0 | 0 | 0 | a2 | T2_offset |

Joint3 | 0 | 0 | 0 | a3 | T3_offset |

Joint4 | 0 | 0 | -pi/2 | 76 | T4_offset |

Joint5 | 0 | 97 | 0 | 0 | 0 |

**‘Tx_offset’ **is the offset joint angle from the mathematical zero position to the mechanical zero position shown in the picture.

T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°);

T3_offset = atan(284.5/53.5)+atan(0.3425/0.0775) = 2.7331843 (156.599924°);

a2 = sqrt(284.5^2+53.5^2) = 289.48866;

T4_offset = -atan(342.5/77.5) = -1.3482664 (-77.249974°);

a3 = sqrt(77.5^2+342.5^2) = 351.158796;

**3. Mass Parameters**

**xArm 5 Lite - Model 1**

Dynamics | Mass(kg) | Center of Mass(mm) |
---|---|---|

Link1 | 2.177 | [0.15, 27.24, -13.75] |

Link2 | 2.011 | [36.7, -220.9, 33.56] |

Link3 | 2.01 | [68.34, 223.66, 1.1] |

Link4 | 1.206 | [63.87, 29.3, 3.5] |

Link5 | 0.17 | [0.0, -6.77, -10.98] |

**xArm 5 Lite - Model 2**

Dynamics | Mass(kg) | Center of Mass(mm) |
---|---|---|

Link1 | 2.46 | [0.13, 30.1, -12.0] |

Link2 | 2.21 | [38.2, -226.6, 34.7] |

Link3 | 2.16 | [69.0, 231.8, 1.0] |

Link4 | 1.354 | [65.2, 31.8, 3.11] |

Link5 | 0.17 | [0.0, -6.77, -10.98] |

**xArm 5 Lite - Model 3**

Dynamics | Mass(kg) | Center of Mass(mm) |
---|---|---|

Link1 | 2.382 | [0.13, 29.4, -12.4] |

Link2 | 2.164 | [37.88, -225.4, 34.47] |

Link3 | 2.121 | [68.83, 229.85, 1.02] |

Link4 | 1.317 | [64.9, 31.2, 3.2] |

Link5 | 0.17 | [0.0, -6.77, -10.98] |

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