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] |
Last updated