Ontology Parameters:

ECO65 Series Parameters and D-H Model

Basic Parameters

Parameter Name		Parameter Value
Basic Parameters	Degrees of Freedom	6
	Configuration	Collaborative Arm Configuration
	Joint Brake Type	Joints 1 to 6: Hard Brake
	Working Radius/mm	Standard Version: 610 Six-Axis Force Version: 638.5
	Payload/kg	5
	Self-weight/kg	Standard Version: 7.8 Six-Axis Force Version: 7.9
	Repeatability/mm	±0.05
	TCP Line Speed/m/s	≤1.8
	Typical Power/W	≤100
	Peak Power/W	≤200
	Installation Angle	Any Angle
	Base Dimensions/mm	φ107
	Material	Aluminum Alloy/ABS
Environmental Adaptability	Operating Temperature/℃	0-45
	Operating Humidity	25~85% Non-condensing
	Protection Level	Body IP54
Motion Angle Range/°	J1	-178~+178
	J2	-178~+135
	J3	-160~+145
	J4	-178~+178
	J5	-178~+178
	J6	-360~+360
Maximum Angular Velocity/°/s	J1	180
	J2	180
	J3	225
	J4	225
	J5	225
	J6	225
Force Control Specifications	Six-Axis Force Range	Standard Version: - Six-Axis Force Version: 200N/7N·m
	Six-Axis Force Accuracy	Standard Version: - Six-Axis Force Version: ＜0.5%FS

Ontology Parameters

MDH model frame:

MDH parameters of ECO65 (modified D-H parameters):

Joint No.(i)	$a_{i-1}$(mm)	${\alpha }_{i-1}$(°)	$d_i$(mm)	offset(°)
1	0	0	162.5	0
2	-86	-90	0	-90
3	260	0	0	0
4	240	0	-58.88	90
5	0	90	110	0
6	0	-90	$d_6$	0

• ECO65-B  : $d_6=79.5$ mm
• ECO65-6F: $d_6=108$ mm

Note: offset refers to the offset of the joint zero position from the model zero position, that is, model angle = joint angle + offset.

Kinetic parameters of ECO65 robot link

joint_id(i)	1	2	3	4	5	6	-
$m$	1.508	2.023	1.886	0.570	0.641	0.107	0.248
$x$	-11.055	58.186	92.768	-0.040	-0.040	-0.506	-0.426
$y$	0.027	-0.012	-0.094	-34.960	22.647	0.255	0.237
$z$	-33.473	-52.364	1.811	3.802	-7.366	-10.801	-27.223
$L_{xx}$	3648.222	7820.980	1922.701	1202.616	987.154	50.918	308.844
$L_{xy}$	22.882	4.845	-13.151	0.267	-0.046	-3.136	-3.781
$L_{xz}$	25.494	-7604.590	2010.953	-0.705	0.749	-0.699	-1.468
$L_{yy}$	4975.281	29709.375	38718.526	324.974	428.173	47.420	304.616
$L_{yz}$	-10.516	4.192	-4.827	0.000	6.408	0.388	0.888
$L_{zz}$	2611.768	24073.795	38122.090	1163.421	886.381	60.350	122.620
Remarks						B	6F

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, $kg·mm²$
• B: standard version, 6F: six-axis force version

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 ECO65 humanoid robotic arm has six rotating joints, each of which represents one degree of freedom. As shown in the figure below, robot joints include the shoulders (joint 1 and joint 2), elbow (joint 3), and wrists (joint 4, joint 5, and joint 6).

Workspace

The workspace of ECO65-B is a sphere with a working radius of 610 mm, in addition to the cylindrical space directly above and below the base. When determining the installation position of the robot, due considerations must be given to the cylindrical space directly above and below the robot, to avoid moving tools to 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: -178° to +135°; joint 3: -160° to +145°; joint 4: ±178°; joint 5: ±178°; joint 6: ±360°.

Motion singularities

Shoulder singularity

This robotic arm has proper configuration to avoid shoulder singularities, but when the intersection of axis 5 and axis 6 is close to the axis of joint 1, the robot approaches a shoulder singularity, and will motion significantly. The indicated point is [0,-45,120,-45,-90,0], as shown in the figure below:

Elbow singularity

q3=0, co-plane of axis of joint 2, joint 3, and joint 4, i.e. the point format is [x,x,0,x,x,x], indicated point [-90,-60,0,0,90,0], as shown in the figure below:

Wrist singularity

Axis of joint 4 parallel to axis of joint 6, q5=0, i.e. the point format is [x,x,x,x,0,x], indicated point [-90,-45,90,0,0,0], as shown in the figure below:

Boundary singularity

The special situation with the end of robotic arm reaching the farthest end, q3=0, and co-plane of axis of joint 2, joint 3, joint 4, and joint 6, i.e. the point format is [x,x,0,x,0,x]. The indicated point is [0,40,0,0,0,0], as shown in the figure below:

Load curves

Represent the curves of end load of ECO65-B and ECO65-6F. Where, L refers to the radial distance of the center of mass of end load against the plane of end flange, and Z refers to the normal distance of the center of mass of end load against the plane of end flange.