UR3e
Kinematicstheta [rad]a [m]d [m]alpha [rad]DynamicsMass [kg]Center of Mass [m]
Joint 1000.15185π/2Link 11.98[0, -0.02, 0]
Joint 20-0.2435500Link 23.4445[0.13, 0, 0.1157]
Joint 30-0.213200Link 31.437[0.05, 0, 0.0238]
Joint 4000.13105π/2Link 40.871[0, 0, 0.01]
Joint 5000.08535-π/2Link 50.805[0, 0, 0.01]
Joint 6000.09210Link 60.261[0, 0, -0.02]

UR5e
Kinematicstheta [rad]a [m]d [m]alpha [rad]DynamicsMass [kg]Center of Mass [m]
Joint 1000.1625π/2Link 13.761[0, -0.02561, 0.00193]
Joint 20-0.42500Link 28.058[0.2125, 0, 0.11336]
Joint 30-0.392200Link 32.846[0.15, 0.0, 0.0265]
Joint 4000.1333π/2Link 41.37[0, -0.0018, 0.01634]
Joint 5000.0997-π/2Link 51.3[0, 0.0018,0.01634]
Joint 6000.09960Link 60.365[0, 0, -0.001159]

UR10e
Kinematicstheta [rad]a [m]d [m]alpha [rad]DynamicsMass [kg]Center of Mass [m]
Joint 1000.1807π/2Link 17.369[0.021, 0.000, 0.027]
Joint 20-0.612700Link 213.051[0.38, 0.000, 0.158]
Joint 30-0.5715500Link 33.989[0.24, 0.000, 0.068]
Joint 4000.17415π/2Link 42.1[0.000, 0.007, 0.018]
Joint 5000.11985-π/2Link 51.98[0.000, 0.007, 0.018]
Joint 6000.116550Link 60.615[0, 0, -0.026]

UR16e
Kinematicstheta [rad]a [m]d [m]alpha [rad]DynamicsMass [kg]Center of Mass [m]
Joint 1000.1807π/2Link 17.369[0.000, -0.016, 0.030]
Joint 20-0.478400Link 210.450[0.302, 0.000, 0.160]
Joint 30-0.3600Link 34.321[0.194, 0.000, 0.065]
Joint 4000.17415π/2Link 42.180[0.000, -0.009, 0.011]
Joint 5000.11985-π/2Link 52.033[0.000, 0.018, 0.012]
Joint 6000.116550Link 60.907[0, 0, -0.044]

UR3
Kinematics  theta [rad]a [m]d [m]alpha [rad]DynamicsMass [kg]Center of Mass [m]
Joint 1000.1519π/2Link 12[0, -0.02, 0]
Joint 20-0.2436500Link 23.42[0.13, 0, 0.1157]
Joint 30-0.2132500Link 31.26[0.05, 0, 0.0238]
Joint 4000.11235π/2Link 40.8[0, 0, 0.01]
Joint 5000.08535-π/2Link 50.8[0, 0, 0.01]
Joint 6000.08190Link 60.35[0, 0, -0.02]

UR5
Kinematicstheta [rad]a [m]d [m]alpha [rad]DynamicsMass [kg]Center of Mass [m]
Joint 1000.089159π/2Link 13.7[0, -0.02561, 0.00193]
Joint 20-0.42500Link 28.393[0.2125, 0, 0.11336]
Joint 30-0.3922500Link 32.33[0.15, 0.0, 0.0265]
Joint 4000.10915π/2Link 41.219[0, -0.0018, 0.01634]
Joint 5000.09465-π/2Link 51.219[0, 0.0018,0.01634]
Joint 6000.08230Link 60.1879[0, 0, -0.001159]

UR10
Kinematicstheta [rad]a [m]d [m]alpha [rad]DynamicsMass [kg]Center of Mass [m]
Joint 1000.1273π/2Link 17.1[0.021, 0.000, 0.027]
Joint 20-0.61200Link 212.7[0.38, 0.000, 0.158]
Joint 30-0.572300Link 34.27[0.24, 0.000, 0.068]
Joint 4000.163941π/2Link 42[0.000, 0.007, 0.018]
Joint 5000.1157-π/2Link 52[0.000, 0.007, 0.018]
Joint 6000.09220Link 60.365[0, 0, -0.026]

UR官方参数链接

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