Ontology Parameters:

ECO62-B Series Parameters and D-H Model

Basic Parameters

Parameter Name		Parameter Value
Basic Parameters	Degrees of Freedom	6
	Joint Brake Type	Joints 1 to 3: Hard Brake Joints 4 to 6: Soft Brake
	Working Radius/mm	355
	Payload/kg	1
	Self-weight/kg	3.3
	Repeatability/mm	±0.01
	TCP Line Speed/m/s	≤1.3
	Typical Power/W	≤100
	Peak Power/W	≤200
	Base Dimensions/mm	φ102
	Material	Aluminum Alloy/ABS
Environmental Adaptability	Operating Temperature/℃	0-45
	Operating Humidity	25~85% Non-condensing
Motion Angle Range/°	J1	-178~+178
	J2	-169~+104
	J3	-151~+133
	J4	-172~+172
	J5	-172~+172
	J6	-360~+360
Maximum Angular Velocity/°/s	J1	180
	J2	180
	J3	180
	J4	150
	J5	150
	J6	150

Ontology Parameters

MDH model frame:

MDH parameters of ECO62-B (modified D-H parameters):

Joint No.(i)	$a_{i-1}$(mm)	${\alpha }_{i-1}$(°)	$d_i$(mm)	${\theta }_i$ / $offse{t}_i$(°)	Remarks
1	0	0	136	0
2	-70	-90	0	-90
3	148	0	0	0
4	136	0	-58.5	90
5	0	90	71	0
6	0	-90	70.7	0	(B) Standard End Effector (03 Joint Version)

Kinetic parameters of ECO62-B robot link

joint_id(i)	$L_{xx}$ (kg*mm^2)	$L_{xy}$ (kg*mm^2)	$L_{xz}$ (kg*mm^2)	$L_{yy}$ (kg*mm^2)	$L_{yz}$ (kg*mm^2)	$L_{zz}$ (kg*mm^2)	$x$ (mm)	$y$ (mm)	$z$ (mm)	$m$ (kg)	Remarks
1	1341.83707	-1141.53218	4.12154	3723.08113	-0.70646	3980.45116	-36.0000	-13.4700	-9.0800	1.19575
2	1943.5495	-1.2359	-3235.9682	15599.5218	-0.5731	14116.9907	119.8000	0	-39.6000	0.8055
3	185.576	-2.1952	-249.1234	5023.694	-0.196	5034.4334	94.4000	0	-2.0000	0.413
4	166.6853	-0.523	-0.3532	73.6738	-0.808	158.8891	-0.1000	-16.8000	3.4000	0.2386
5	224.9708	-0.662	-0.3276	93.8259	-0.5701	211.4858	-0.1000	16.8000	-4.3000	0.2633
6	32.2687	-0.0503	-0.0155	31.9264	-0.034	24.373	0	-0.1000	-14.6000	0.0667	End flange

Description:

• $m$ is the mass of the link, $kg$
• $x$ is the x-coordinate of the center of mass of link, $mm$
• $y$ is the y-coordinate of the center of mass of link, $mm$
• $z$ is the z-coordinate of the center of mass of link, $mm$
• $L_{xx}$,$L_{xy}$,$L_{xz}$,$L_{yy}$,$L_{yz}$,$L_{zz}$ is the principal moment of inertia described in the link frame, $kg·mm²$

Remarks:

• Source of data: CAD design values.
• If the inertial parameters in the center of mass frame are required, they can be calculated based on the parallel axis theorem, as stated below.

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Assuming there is an output frame $\{i\}$, the center of mass frame coinciding with this coordinate system $\{i\}$ is $\{c\}$, and the coordinates of the center of mass in this frame $\{i\}$ are $P_c=[x_c,y_c,z_c{]}^T$, then according to the parallel axis theorem:

$$I_c=L_i-m(P_c^T{P}_c{I}_{3\times 3}-P_c{P}_c^T)$$

Where,

$$L_i=\left[\begin{array}{ccc}{L}_{xx}& L_{xy}& L_{xz}\\ L_{xy}& L_{yy}& L_{yz}\\ L_{xz}& L_{yz}& L_{zz}\end{array}\right]$$

Distribution and dimensions of joints

The ECO62 robotic arm has six rotating joints, each representing one degree of freedom. As shown in the figure below, the robot joints include the shoulder (joints 1, 2, and 3), the elbow (joint 4), and the wrists (joints 5 and 6).

Workspace

The workspace of ECO62 is a sphere with a working radius of 355 mm, excluding the cylindrical space directly above and below the base. When determining the installation position of the robot, due consideration must be given to the cylindrical space directly above and below the robot to avoid moving tools into this cylindrical space as much as possible. Furthermore, in actual applications, the motion ranges of all joints are as follows: Joint 1: ±178°; Joint 2: -169° to +104°; Joint 3: -151° to +133°; Joint 4: ±172°; Joint 5: ±172°; Joint 6: ±360°.

Motion singularities

Singular type 1: Shoulder singularity

When the intersection point of the axes of Joint 5 and Joint 6 lies on the plane that passes through the axis of Joint 1 and is parallel to the axis of Joint 2, a shoulder singularity occurs.

The shoulder singularity is shown in the figure below. The blue plane in the figure is the plane that passes through the axis of Joint 1 and is parallel to the axis of Joint 2.

Example point 1: [-24.6,-13.199,77.911,-51.913,1.997,1.110], as shown in the figure below:

Singular type 2: Elbow singularity

When the intersection point of the axes of Joint 5 and Joint 6 lies on the plane formed by the axes of Joint 2 and Joint 3, and q3=0, i.e., the point format is [x,x,0,x,x,x], an elbow singularity occurs.

Example point 1: [30,30,0,30,30,30], as shown in the figure below:

Singular type 3: Wrist singularity

When the axes of Joint 4 and Joint 6 are parallel, q5=0, i.e., the point format is [x,x,x,x,0,x], a wrist singularity occurs.

Example point 1: [-90,-45,90,0,0,0], as shown in the figure below:

Singular type 4: Boundary singularity

When the robot end-effector reaches the farthest point, q3=0 and q5=0, i.e., the point format is [x,x,0,x,0,x], a boundary singularity occurs.

Example point 1: [0,40,0,0,0,0], as shown in the figure below:

Load curves

The following figure represents the end load curve of the ECO62-B robotic arm. Here, L refers to the radial distance of the end load's center of mass relative to the end flange plane, and Z refers to the normal distance relative to the end flange plane.