UFactory 850

Kinematic and Dynamic Parameters of UFACTORY 850

1. Modified D-H Parameters

Size Parameters: (unit:mm)	Joint Coordinate Definition

Kinematics	theta offset(deg)	d(mm)	alpha(deg)	a(mm)
Joint1	0	364	0	0
Joint2	90	0	90	0
Joint3	90	0	180	390
Joint4	0	426	-90	150
Joint5	0	0	-90	0
Joint6	0	90	90	0

2. Standard D-H Parameters

Size Parameters: (unit:mm)	Joint Coordinate Definition

Kinematics	theta offset(deg)	d(mm)	alpha(deg)	a(mm)
Joint1	0	364	90	0
Joint2	90	0	180	390
Joint3	90	0	-90	150
Joint4	0	426	-90	0
Joint5	0	0	90	0
Joint6	0	90	0	0

3. Mass Parameters

Size Parameters: (unit:mm)	Joint Coordinate Definition

Dynamics	Mass(kg)	Center of Mass[x,y,z]-Modified DH Coordinate System
Link1	4.811	[-0.049, 13.92, -20.31]
Link2	3.166	[327.98, 0.074, 6.48]
Link3	2.247	[130.23, 105.18, 8.97]
Link4	2.12	[0.016, -38.47, -98.3]
Link5	1.346	[-0.42, -17.6, -1.42]
Link6	0.225	[0.15, 1.38, -13.97]