UFactory 850 - Page 227

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2) UFACTORY 850 Standard D-H Parameters
Manufacturer：UFactory Technology Co.,Ltd
Kiematics
αi (°)
ai
(mm)
di
(mm)
θi (°)
Joint1
90
0
364
0
Joint2
180
390
0
90
Joint3
-90
150
0
90
Joint4
-90
0
426
0
Joint5
90
0
0
0
Joint6
0
0
90
0