# xArm 6

Kinematic and Dynamic Parameters of xArm 6

Last updated

Kinematic and Dynamic Parameters of xArm 6

Last updated

**1. Modified D-H Parameters**

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

**2. Standard D-H Parameters**

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

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

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

T3_offset = -T2_offset = 1.3849179 (79.34995°);

**3. Mass Parameters**

**xArm 6 - Model 1**

**xArm 6 - Model 2**

**xArm 6 - Model 3**

**xArm 6 - Model 4**

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

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

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

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

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

Joint1

0

267

-pi/2

0

0

Joint2

0

0

0

a2

T2_offset

Joint3

0

0

-pi/2

77.5

T3_offset

Joint4

0

342.5

pi/2

0

0

Joint5

0

0

-pi/2

76

0

Joint6

0

97

0

0

0

Link1

2.177

[0.15, 27.24, -13.75]

Link2

2.011

[36.7, -220.9, 33.56]

Link3

1.725

[69.77, 113.5, 11.6]

Link4

1.211

[-0.2, 20.0, 26.0]

Link5

1.206

[63.87, 29.3, 3.5]

Link6

0.17

[0.0, -6.77, -10.98]

Link1

2.46

[0.13, 30.1, -12.0]

Link2

2.21

[38.2, -226.6, 34.7]

Link3

1.925

[70.6, 117.2, 10.4]

Link4

1.36

[0.18, 17.7, -23.0]

Link5

1.354

[65.2, 31.8, 3.11]

Link6

0.17

[0.0, -6.77, -10.98]

Link1

2.382

[0.13, 29.4, -12.4]

Link2

2.267

[38.8, -227.8, 34.96]

Link3

1.875

[70.4, 116.3, 10.7]

Link4

1.319

[-0.2, 18.0, -22.9]

Link5

1.34

[65.1, 30.96, 3.15]

Link6

0.17

[0.0, -6.77, -10.98]

Link1

2.53

[-0.164, 35.94, -6.5]

Link2

2.242

[40.84, -240.3, 32.54]

Link3

2.019

[71.4, 126.8, 10.9]

Link4

1.361

[0.185, 14.66, -21.97]

Link5

1.345

[68.24, 33.42, 2.64]

Link6

0.173

[0.8, -3.59, -13.26]

Joint1

0

267

0

0

0

Joint2

0

0

-pi/2

0

T2_offset

Joint3

0

0

0

a2

T3_offset

Joint4

0

342.5

-pi/2

77.5

0

Joint5

0

0

pi/2

0

0

Joint6

0

97

-pi/2

76

0