UFactory LITE 6 - Page 163

Appendix7-Kinematic and Dynamic Parameters of
UFACTORY Lite 6
Modified D-H Parameters:
Size Parameters: (unit:mm)
Joint Coordinate Definition
Kinematics
theta offset (deg)
d (mm)
alpha (deg)
a (mm)
Joint1
0
243.3
0
0
Joint2
-90
0
-90
0
Joint3
-90
0
180
200
Joint4
0
227.6
90
87
Joint5
0
0
90
0
Joint6
0
61.5
-90
0