Universal Robots ur3 - Modify Wrist 3 to Wrist 1 or Wrist2

5.2.18. Modify Wrist 3 to Wrist 1 or Wrist2
1. Mechanical parts must be replaced.
2. The orientation of the output flange must be changed
3. The joint ID must be modified.
Use the ESD guidelines for the modification of the wrist see: 3.0.0 Handling ESD-sensitive parts
Service Manual 49 UR3
5.Service and Replacement of Parts
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