Parameters for calculations of kinematics and dynamics - 45257


Parameters for calculations of kinematics and dynamics

Examples are valid for:
CB3 Software version: 3.7.0
e-Series Software version: 5.1.0

Denavit–Hartenberg parameters are used to calculate kinematics and dynamics of UR robots.

The definition of the Denavit–Hartenberg parameters can be found here: http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

Note: UR “a” parameter = Wikipedia “r” parameter.

Animation to explain the Denavit–Hartenberg parameters: https://www.youtube.com/watch?v=rA9tm0gTln8

The Denavit–Hartenberg parameters in UR robots are described as the below diagrams.

 

 

 

The Denavit–Hartenberg parameters of UR robots are shown as below.

 

UR3e
Kinematics theta [rad] a [m] d [m] alpha [rad] Dynamics Mass [kg] Center of Mass [m]
Joint 1 0 0 0.15185 π/2 Link 1 1.98 [0, -0.02, 0]
Joint 2 0 -0.24355 0 0 Link 2 3.4445 [0.13, 0, 0.1157]
Joint 3 0 -0.2132 0 0 Link 3 1.437 [0.05, 0, 0.0238]
Joint 4 0 0 0.13105 π/2 Link 4 0.871 [0, 0, 0.01]
Joint 5 0 0 0.08535 -π/2 Link 5 0.805 [0, 0, 0.01]
Joint 6 0 0 0.0921 0 Link 6 0.261 [0, 0, -0.02]
UR5e
Kinematics theta [rad] a [m] d [m] alpha [rad] Dynamics Mass [kg] Center of Mass [m]
Joint 1 0 0 0.1625 π/2 Link 1 3.761 [0, -0.02561, 0.00193]
Joint 2 0 -0.425 0 0 Link 2 8.058 [0.2125, 0, 0.11336]
Joint 3 0 -0.3922 0 0 Link 3 2.846 [0.15, 0.0, 0.0265]
Joint 4 0 0 0.1333 π/2 Link 4 1.37 [0, -0.0018, 0.01634]
Joint 5 0 0 0.0997 -π/2 Link 5 1.3 [0, 0.0018,0.01634]
Joint 6 0 0 0.0996 0 Link 6 0.365 [0, 0, -0.001159]
UR10e
Kinematics theta [rad] a [m] d [m] alpha [rad] Dynamics Mass [kg] Center of Mass [m]
Joint 1 0 0 0.1807 π/2 Link 1 7.369 [0.021, 0.000, 0.027]
Joint 2 0 -0.6127 0 0 Link 2 13.051 [0.38, 0.000, 0.158]
Joint 3 0 -0.57155 0 0 Link 3 3.989 [0.24, 0.000, 0.068]
Joint 4 0 0 0.17415 π/2 Link 4 2.1 [0.000, 0.007, 0.018]
Joint 5 0 0 0.11985 -π/2 Link 5 1.98 [0.000, 0.007, 0.018]
Joint 6 0 0 0.11655 0 Link 6 0.615 [0, 0, -0.026]
UR3
Kinematics   theta [rad] a [m] d [m] alpha [rad] Dynamics Mass [kg] Center of Mass [m]
Joint 1 0 0 0.1519 π/2 Link 1 2 [0, -0.02, 0]
Joint 2 0 -0.24365 0 0 Link 2 3.42 [0.13, 0, 0.1157]
Joint 3 0 -0.21325 0 0 Link 3 1.26 [0.05, 0, 0.0238]
Joint 4 0 0 0.11235 π/2 Link 4 0.8 [0, 0, 0.01]
Joint 5 0 0 0.08535 -π/2 Link 5 0.8 [0, 0, 0.01]
Joint 6 0 0 0.0819 0 Link 6 0.35 [0, 0, -0.02]
UR5
Kinematics theta [rad] a [m] d [m] alpha [rad] Dynamics Mass [kg] Center of Mass [m]
Joint 1 0 0 0.089159 π/2 Link 1 3.7 [0, -0.02561, 0.00193]
Joint 2 0 -0.425 0 0 Link 2 8.393 [0.2125, 0, 0.11336]
Joint 3 0 -0.39225 0 0 Link 3 2.33 [0.15, 0.0, 0.0265]
Joint 4 0 0 0.10915 π/2 Link 4 1.219 [0, -0.0018, 0.01634]
Joint 5 0 0 0.09465 -π/2 Link 5 1.219 [0, 0.0018,0.01634]
Joint 6 0 0 0.0823 0 Link 6 0.1879 [0, 0, -0.001159]
UR10
Kinematics theta [rad] a [m] d [m] alpha [rad] Dynamics Mass [kg] Center of Mass [m]
Joint 1 0 0 0.1273 π/2 Link 1 7.1 [0.021, 0.000, 0.027]
Joint 2 0 -0.612 0 0 Link 2 12.7 [0.38, 0.000, 0.158]
Joint 3 0 -0.5723 0 0 Link 3 4.27 [0.24, 0.000, 0.068]
Joint 4 0 0 0.163941 π/2 Link 4 2 [0.000, 0.007, 0.018]
Joint 5 0 0 0.1157 -π/2 Link 5 2 [0.000, 0.007, 0.018]
Joint 6 0 0 0.0922 0 Link 6 0.365 [0, 0, -0.026]

 

 

 

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