xArm 7
Kinematic and Dynamic Parameters of xArm 7
Last updated
Kinematic and Dynamic Parameters of xArm 7
Last updated
1. Modified D-H Parameters
Kinematics | theta(rad) | d(mm) | alpha(rad) | a(mm) | offset(rad) |
---|---|---|---|---|---|
2. Standard D-H Parameters
3. Mass Parameters
xArm 7 - Model 1
xArm 7 - Model 2
xArm 7 - Model 3
xArm 7 - 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
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
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]
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]
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]
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]
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