Universal Robots UR10e

All rights reserved 25 Service Manual e-Series (EN) 1.1.8
4.1 Robot Arm
Joint names
Joint size UR3e
Joint size UR5e
Joint size UR10e and UR16e
Shoulder joint
Base
Base joint
Upper arm
Elbow joint
Lower arm
Wrist 1 joint
Wrist 2 joint
Wrist 3 joint
Tool Force/Torque sensor
Size 0
Size 1
Size 2
Size 1
Size 3
Size 2
Size 3
Size 4
Size 1
Size 2
Size 1
Size 3
Size 2
Size 3
Size 4