xArm 7

Kinematic and Dynamic Parameters of xArm 7

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	0
Joint3	0	293	pi/2	0	0
Joint4	0	0	pi/2	52.5	0
Joint5	0	342.5	pi/2	77.5	0
Joint6	0	0	pi/2	0	0
Joint7	0	97	-pi/2	76	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	pi/2	0	0
Joint3	0	293	pi/2	52.5	0
Joint4	0	0	pi/2	77.5	0
Joint5	0	342.5	pi/2	0	0
Joint6	0	0	-pi/2	76	0
Joint7	0	97	0	0	0

3. Mass Parameters

xArm 7 - Model 1

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.177	[0.15, 27.24, -13.75]
Link2	1.716	[0.22, -124.7, 18.9]
Link3	1.485	[46.0, -22.3, -8.47]
Link4	1.574	[-69.75, -112.5, 13.2]
Link5	1.209	[-0.35, 17.6, -28.4]
Link6	1.214	[63.65, 30.84, 21.7]
Link7	0.17	[0.0, -6.77, -10.98]

xArm 7 - Model 2

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.46	[0.13, 30.1, -12.0]
Link2	1.916	[0.2, -129.6, 16.9]
Link3	1.69	[46.76, -25.3, -7.46]
Link4	1.774	[70.66, -116.6, 11.7]
Link5	1.357	[-0.3, 15.6, -25.3]
Link6	1.362	[65.0, 33.4, 21.3]
Link7	0.17	[0.0, -6.77, -10.98]

xArm 7 - Model 3

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.382	[0.13, 29.4, -12.4]
Link2	1.869	[0.2, -128.56, 17.35]
Link3	1.638	[46.6, -24.63, -7.68]
Link4	1.727	[70.5, -115.75, 12.0]
Link5	1.32	[-0.32, 16.04, -26.0]
Link6	1.325	[64.7, 32.8, 21.4]
Link7	0.17	[0.0, -6.77, -10.98]

xArm 7 - Model 4

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.53	[-0.164, 35.94, -6.5]
Link2	2.166	[-0.21, -138.9,16.83]
Link3	1.98	[46.7, -22.6, -7.64]
Link4	2.08	[70.7, -124.54, 12.27]
Link5	1.36	[0.19, 14.6, -21.98]
Link6	1.345	[68.24, 33.42, 2.64]
Link7	0.173	[0.8, -3.59, -13.26]