Ontology Parameters:

GEN72 Series Parameters and D-H Model

Basic Parameters

Parameter Name		Parameter Value
Basic Parameters	Degrees of Freedom	7
	Configuration	Humanoid Configuration
	Joint Brake Type	Joints 1 to 7: Soft Brake
	Working Radius/mm	600
	Payload/kg	2
	Self-weight/kg	6.6
	Repeatability/mm	±1
	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	-172~+172
	J2	-105~+105
	J3	-172~+172
	J4	-165~+55
	J5	-172~+172
	J6	-90~+120
	J7	-172~+172
Maximum Angular Velocity/°/s	J1	180
	J2	180
	J3	180
	J4	180
	J5	225
	J6	225
	J7	225

Ontology Parameters

MDH model frame:

MDH parameters of GEN72 (modified D-H parameters):

Joint No.(i)	$a_{i-1}$(mm)	${\alpha }_{i-1}$(°)	$d_i$(mm)	offset(°)
1	0	0	218	0
2	0	-90	0	0
3	0	90	280	0
4	40	90	0	0
5	-19	-90	252.5	0
6	0	90	0	90
7	67	90	90.5	0

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 GEN72 robot link

joint_id(i)	1	2	3	4	5	6	7
$m$	0.849	0.954	1.166	0.501	0.164	0.92	0
$x$	0.018	0	32.035	-0.101	-0.012	33.677	0
$y$	0.485	-113.065	1.405	121.531	-0.835	-24.499	0
$z$	-5.062	1.39	-10.865	-0.415	-49.324	-0.234	0
$L_{xx}$	619.491	15830.405	1884.802	7780.748	687.831	1468.45	0
$L_{xy}$	-0.64	-0.498	-67.215	3.144	0.372	1506.848	0
$L_{xz}$	-0.349	-0.274	-13.467	0.053	-0.062	14.523	0
$L_{yy}$	758.741	831.213	3392.831	208.799	647.655	2422.923	0
$L_{yz}$	-0.727	-2.038	-1.356	24.787	2.089	-10.309	0
$L_{zz}$	454.962	15738.682	2238.137	7777.93	119.871	3549.823	0
Remarks

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 GEN72 robotic arm has seven rotating joints, each of which represents one degree of freedom. As shown in the figure below, robot joints include the shoulders (joint 1, joint 2, and joint 3), elbow (joint 4), and wrists (joint 5, joint 6, and joint 7).

Workspace

The workspace of GEN72-B is a sphere with a working radius of 600 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: ±172°; joint 2: ±105°; joint 3: ±172°; joint 4: -170° to 55°; joint 5: ±172°; joint 6: -90° to 120°; joint 7: ±172°.

Seen from the cross-section of the workspace, the area with good maneuverability of the 7-axis robot is as indicated by the yellow dotted line in the following figure, an annular area in the workspace as a whole.

Motion singularities

Shoulder singularity

Co-axis of joint 1 and joint 3, i.e. q2=0, indicated point [0,0,0,-90,0,0,0], as shown in the figure below:

Elbow singularity

Co-line of origins of coordinates of joint 2, joint 4, and joint 6, i.e. q4=-12.4333582177677613, the point format is [x,x,x,-12.43,x,x,x], indicated point [0,30,0,-12.433,0,0,0], as shown in the figure below:

Other singularities

A shoulder singularity: joint 2: 0; joint 3: ±90°; joint 5: ±90°. The point format is s(q2)=0 ∧ c(q3)=0 ∧ c(q5)=0, indicated point [0,0,90,-90,90,0,0], as shown in the figure below:

Load curves

Represent the end load curves of GEN72. 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.