UR系列机械臂 用于计算运动学和动力学的 DH 参数

Denavit-Hartenberg 参数用于计算优傲机器人的运动学和动力学。

UR机器人中的 Denavit-Hartenberg 参数如下图所示。

优傲UR机器人的Denavit-Hartenberg参数如下图所示。

应该注意的是，UR3e 和 UR5e 的惯性矩阵值由于尺寸较小，因此可以忽略不计。惯性从 UR10 及以上开始产生影响。

UR20
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]	Inertia Matrix
Joint 1	0	0	0.2363	π/2	Link 0	16.343	[0, -0.0610, 0.0062]	[0.0887, -0.0001, -0.0001, -0.0001, 0.0763, 0.0072, -0.0001, 0.0072, 0.0842]
Joint 2	0	-0.8620	0	0	Link 1	29.632	[0.5226, 0, 0.2098]	[0.1467, 0.0002, -0.0516, 0.0002, 4.6659, 0.0000, -0.0516, 0.0000, 4.6348]
Joint 3	0	-0.7287	0	0	Link 2	7.879	[0.3234, 0, 0.0604]	[0.0261, -0.0001, -0.0290, -0.0001, 0.7576, -0.0000, -0.0290, -0.0000, 0.7533]
Joint 4	0	0	0.2010	π/2	Link 3	3.054	[0, -0.0026, 0.0393]	[0.0056, -0.0000, -0.0000, -0.0000, 0.0054, 0.0004, -0.0000, 0.0004, 0.0040]
Joint 5	0	0	0.1593	-π/2	Link 4	3.126	[0, 0.0024, 0.0379]	[0.0059, -0.0000, 0.0000, -0.0000, 0.0058, -0.0004, 0.0000, -0.0004, 0.0043]
Joint 6	0	0	0.1543	0	Link 5	0.846	[0, -0.0003, -0.0318]	[0.0009, 0.0000, 0.0000, 0.0000, 0.0009, 0.0000, 0.0000, 0.0000, 0.0012]

UR30
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]	Inertia Matrix
Joint 1	0	0	0.2363	π/2	Link 0	16.343	[-0.0001, -0.0600, 0.0069]	[0.0883, -0.0001, -0.0001, -0.0001, 0.0764, 0.0076, -0.0001, 0.0076, 0.0830]
Joint 2	0	-0.6370	0	0	Link 1	28.542	[0.3894, 0, 0.2103]	[0.1379, 0.0001, -0.0451, 0.0001, 2.5013, -0.0000, -0.0451, -0.0000, 2.4751]
Joint 3	0	-0.5037	0	0	Link 2	7.156	[0.2220, 0.0007, 0.0607]	[0.0236, 0.0000, -0.0168, 0.0009, 0.3388, 0.0001, -0.0168, 0.0001, 0.3353]
Joint 4	0	0	0.2010	π/2	Link 3	3.054	[0, -0.0051, 0.0365]	[0.0056, 0.0000, 0.0000 0.0000, 0.0051, 0.0006 0.0000, 0.0006, 0.0043]
Joint 5	0	0	0.1593	-π/2	Link 4	3.126	[0, 0.0048, 0.0347]	[0.0060, 0.0000, 0.0000, 0.0000, 0.0056, -0.0006, 0.0000, -0.0006, 0.0046]
Joint 6	0	0	0.1543	0	Link 5	0.849	[0, -0.0003, -0.0309]	[0.0009, 0.0000, 0.0000, 0.0000, 0.0009, 0.0000, 0.0000, 0.0000, 0.0012]

UR3e
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]	Inertia Matrix
Joint 1	0	0	0.15185	π/2	Link 1	1.98	[0, -0.02, 0]	0
Joint 2	0	-0.24355	0	0	Link 2	3.4445	[0.13, 0, 0.1157]	0
Joint 3	0	-0.2132	0	0	Link 3	1.437	[0.05, 0, 0.0238]	0
Joint 4	0	0	0.13105	π/2	Link 4	0.871	[0, 0, 0.01]	0
Joint 5	0	0	0.08535	-π/2	Link 5	0.805	[0, 0, 0.01]	0
Joint 6	0	0	0.0921	0	Link 6	0.261	[0, 0, -0.02]	[0, 0, 0, 0, 0, 0, 0, 0, 0.0001]

UR5e
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]	Inertia Matrix
Joint 1	0	0	0.1625	π/2	Link 1	3.761	[0, -0.02561, 0.00193]	0
Joint 2	0	-0.425	0	0	Link 2	8.058	[0.2125, 0, 0.11336]	0
Joint 3	0	-0.3922	0	0	Link 3	2.846	[0.15, 0.0, 0.0265]	0
Joint 4	0	0	0.1333	π/2	Link 4	1.37	[0, -0.0018, 0.01634]	0
Joint 5	0	0	0.0997	-π/2	Link 5	1.3	[0, 0.0018,0.01634]	0
Joint 6	0	0	0.0996	0	Link 6	0.365	[0, 0, -0.001159]	[0, 0, 0, 0, 0, 0, 0, 0, 0.0002]

UR10e
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]	Inertia Matrix
Joint 1	0	0	0.1807	π/2	Link 1	7.369	[0.021, 0.000, 0.027]	[0.0341, 0.0000, -0.0043, 0.0000, 0.0353, 0.0001, -0.0043, 0.0001, 0.0216]
Joint 2	0	-0.6127	0	0	Link 2	13.051	[0.38, 0.000, 0.158]	[0.0281, 0.0001, -0.0156, 0.0001, 0.7707, 0.0000, -0.0156, 0.0000, 0.7694]
Joint 3	0	-0.57155	0	0	Link 3	3.989	[0.24, 0.000, 0.068]	[0.0101, 0.0001, 0.0092, 0.0001, 0.3093, 0.0000, 0.0092, 0.0000, 0.3065]
Joint 4	0	0	0.17415	π/2	Link 4	2.1	[0.000, 0.007, 0.018]	[0.0030, -0.0000, -0.0000, -0.0000, 0.0022, -0.0002, -0.0000, -0.0002, 0.0026]
Joint 5	0	0	0.11985	-π/2	Link 5	1.98	[0.000, 0.007, 0.018]	[0.0030, -0.0000, -0.0000, -0.0000, 0.0022, -0.0002, -0.0000, -0.0002, 0.0026]
Joint 6	0	0	0.11655	0	Link 6	0.615	[0, 0, -0.026]	[0.0000, 0.0000, -0.0000, 0.0000, 0.0004, 0.0000, -0.0000, 0.0000, 0.0003]

UR16e
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]	Inertia Matrix
Joint 1	0	0	0.1807	π/2	Link 1	7.369	[0.000, -0.016, 0.030]	[0.0335, 0.0000, -0.0000, 0.0000, 0.0337, 0.0037, -0.0000, 0.0037, 0.0210]
Joint 2	0	-0.4784	0	0	Link 2	10.450	[0.302, 0.000, 0.160]	[0.0280, -0.0001, -0.0072, -0.0001, 0.4756, 0.0000, -0.0072, -0.0000, 0.4764]
Joint 3	0	-0.36	0	0	Link 3	4.321	[0.194, 0.000, 0.065]	[0.0109, 0.0001, 0.0101, 0.0001, 0.1206, 0.0000, 0.0101, 0.0000, 0.11714]
Joint 4	0	0	0.17415	π/2	Link 4	2.180	[0.000, -0.009, 0.011]	[0.0061, -0.0000, -0.0000, -0.0000, 0.0025, 0.0008, 0.0000, 0.0008, 0.0058]
Joint 5	0	0	0.11985	-π/2	Link 5	2.033	[0.000, 0.018, 0.012]	[0.0039, -0.0000, 0.0000, -0.0000, 0.0022, -0.0005, 0.0000, -0.0005, 0.0036]
Joint 6	0	0	0.11655	0	Link 6	0.907	[0, 0, -0.044]	[0.0012, 0.0000, 0.0000, 0.0000, 0.0012, 0.0000, 0.0000, 0.0000, 0.0008]

UR3
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]
Joint 1	0	0	0.1519	π/2	Link 1	2	[0, -0.02, 0]
Joint 2	0	-0.24365	0	0	Link 2	3.42	[0.13, 0, 0.1157]
Joint 3	0	-0.21325	0	0	Link 3	1.26	[0.05, 0, 0.0238]
Joint 4	0	0	0.11235	π/2	Link 4	0.8	[0, 0, 0.01]
Joint 5	0	0	0.08535	-π/2	Link 5	0.8	[0, 0, 0.01]
Joint 6	0	0	0.0819	0	Link 6	0.35	[0, 0, -0.02]

UR5
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]
Joint 1	0	0	0.089159	π/2	Link 1	3.7	[0, -0.02561, 0.00193]
Joint 2	0	-0.425	0	0	Link 2	8.393	[0.2125, 0, 0.11336]
Joint 3	0	-0.39225	0	0	Link 3	2.33	[0.15, 0.0, 0.0265]
Joint 4	0	0	0.10915	π/2	Link 4	1.219	[0, -0.0018, 0.01634]
Joint 5	0	0	0.09465	-π/2	Link 5	1.219	[0, 0.0018,0.01634]
Joint 6	0	0	0.0823	0	Link 6	0.1879	[0, 0, -0.001159]

UR10
Kinematics	theta [rad]	a [m]	d [m]	alpha [rad]	Dynamics	Mass [kg]	Center of Mass [m]
Joint 1	0	0	0.1273	π/2	Link 1	7.1	[0.021, 0.000, 0.027]
Joint 2	0	-0.612	0	0	Link 2	12.7	[0.38, 0.000, 0.158]
Joint 3	0	-0.5723	0	0	Link 3	4.27	[0.24, 0.000, 0.068]
Joint 4	0	0	0.163941	π/2	Link 4	2	[0.000, 0.007, 0.018]
Joint 5	0	0	0.1157	-π/2	Link 5	2	[0.000, 0.007, 0.018]
Joint 6	0	0	0.0922	0	Link 6	0.365	[0, 0, -0.026]

参考链接：Universal Robots - DH Parameters for calculations of kinematics and dynamics (universal-robots.com)