Ontology Parameters:
RML63 Series Parameters and D-H Model

Basic Parameters

Parameter Name		Parameter Value
Basic Parameters	Degrees of Freedom	6
	Configuration	Humanoid Configuration
	Joint Brake Type	Joints 1 to 4: Hard Brake Joints 5 to 6: Soft Brake
	Working Radius/mm	Standard Version: 900 Six-Axis Force L Version: 917 Six-Axis Force K Version: 928.5
	Payload/kg	3
	Self-weight/kg	Standard Version: 10 Six-Axis Force Version: 10.1
	Repeatability/mm	±0.05
	TCP Line Speed/m/s	≤2.8
	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~+178
	J3	-178~+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 (Supported only by 6-DoF sensors)	Six-Axis Force Range	200N/7N·m
	Six-Axis Force Accuracy	±0.5%FS

Ontology Parameters

MDH model frame:

MDH parameters of RML63 (modified D-H parameters):

Joint No.(i)	$a_{i - 1}$ (mm)	$α_{i - 1}$ (°)	$d_{i}$ (mm)	$θ_{i}$ / $o f f s e t_{i}$ (°)
1	0	0	$d_{1}$	0
2	-86	-90	0	-90
3	380	0	0	90
4	69	90	405	0
5	0	-90	0	180
6	0	-90	$d_{6}$	180

RML63II : $d_{1} = 172$ mm
RML63III : $d_{1} = 162.5$ mm
RML63-B : $d_{6} = 115.1$ mm
RML63-6FB : $d_{6} = 132.3$ mm
RML63-6F : $d_{6} = 143.6$ mm

Note:

offset refers to the offset of the joint zero position from the model zero position, that is, model angle = joint angle + offset.
The RML63 series robotic arm comes in two versions, Type II and Type III, with the main difference being the length of joint 1.

Kinetic parameters of RML63 robot link

RML63II:

joint_id(i)	1	2	3	4	5	6	-	-
$m$	1.837	2.006	1.961	1.201	1.026	0.107	0.248	0.189
$x$	-68.442	166.7	33.399	0	-0.031	-0.506	-0.426	-0.352
$y$	-23.913	-0.002	-29.498	-35.177	30.146	0.255	0.237	-0.067
$z$	-6.938	-92.59	-17.697	-184.4	-12.341	-10.801	-27.223	-18.302
$L_{x x}$	3462.129	18664.833	6432.819	53007.563	2732.466	50.918	308.844	133.613
$L_{x y}$	-3765.305	-0.587	3869.875	-0.04	-2.123	-3.136	-3.781	0.522
$L_{x z}$	-46.206	30804.14	17.607	0.087	0.374	-0.699	-1.468	1.623
$L_{y y}$	12643.164	103568.483	7094.216	50754.293	829.793	47.42	304.616	130.260
$L_{y z}$	-50.044	-0.287	-17.611	-5089.754	-2.288	0.388	0.888	0.531
$L_{z z}$	13576.758	86722.559	9257.063	2874.631	2384.323	60.35	122.62	89.503
Remarks						B	6F	6FB

RML63III:

joint_id(i)	1	2	3	4	5	6	-	-
$m$	1.598	2.990	1.357	1.864	1.023	0.107	0.248	0.189
$x$	-12.900	109.800	14.100	-0.100	0.100	-0.506	-0.426	-0.352
$y$	0.100	0.100	-5.600	-23.000	32.600	0.255	0.237	-0.067
$z$	-29.800	-64.200	-29.400	-236.200	-15.200	-10.801	-27.223	-18.302
$L_{x x}$	3150.724	16728.188	3116.708	128352.380	3299.439	50.918	308.844	133.613
$L_{x y}$	-18.047	-17.784	508.850	-4.255	-1.019	-3.136	-3.781	0.522
$L_{x z}$	-13.564	26077.237	-1.031	-52.273	0.0317	-0.699	-1.468	1.623
$L_{y y}$	4867.960	102753.087	4083.881	125960.777	1008.186	47.42	304.616	130.260
$L_{y z}$	6.612	12.608	3.755	-4630.083	0.336	0.388	0.888	0.531
$L_{z z}$	2833.691	88450.085	2455.232	3681.884	2745.436	60.35	122.62	89.503
Remarks						B	6F	6FB

Description:

$m$ is the mass of the link, $k g$
$x$ is the x-coordinate of the center of mass of link, $m m$
$y$ is the y-coordinate of the center of mass of link, $m m$
$z$ is the z-coordinate of the center of mass of link, $m m$
$L_{x x}$ , $L_{x y}$ , $L_{x z}$ , $L_{y y}$ , $L_{y z}$ , $L_{z z}$ is the principal moment of inertia described in the link frame, $k g \cdot m m ²$
B: standard version, 6FB: Six-Axis Force L Version, 6F: six-axis force K 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.

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} = [\begin{matrix} L_{x x} & L_{x y} & L_{x z} \\ L_{x y} & L_{y y} & L_{y z} \\ L_{x z} & L_{y z} & L_{z z} \end{matrix}]

Distribution and dimensions of joints

The RML63-B 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).

alt text

RML63II-B

alt text

RML63III-B

Workspace

The workspace of RML63-B is a sphere with a working radius of 900 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°; joint 3: -178° to +145°; joint 4: ±178°; joint 5: ±178°; joint 6: ±360°.

alt text

Illustration of space within the reach of robot

Motion singularities

Shoulder singularity

The center of the wrist lies on a plane that passes through the axis of Joint 1 and is parallel to the axis of Joint 2. The exemplary position is [0,-34.85,72.738,0,-35,0], as shown in the figure below:

Shoulder singularity

Elbow singularity

The center of the wrist lies on the plane formed by Joints 2 and 3. The exemplary position is [0,-60,-9.684,0,-90,0], as shown in the figure below: image.png

Elbow Singularity

Wrist singularity

Co-axis of joint 4 and joint 6, q5=0, i.e. the point format is [x,x,x,x,0,x], indicated point [0,60,30,0,0,0], as shown in the figure below:

Wrist singularity

Boundary singularity

The end of robotic arm reaches the farthest end (a special situation of q3=-9.683), i.e. the point format is [x,x,-9.683,x,0,x], Indicated points [0,0,-9.683,0,0,0], [-90,-45,-9.683,0,0,0], and [-90,-90,-9.683,0,0,0] as shown in the figure below:

Boundary singularity 1

Boundary singularity 2

Boundary singularity 3

Load curves

Represent the end load curves of RML63-B and RML63-6F and RML63-6FB. 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.

RML63-B

End load curves of RML63-B

RML63-6F

End load curves of RML63-6F

RML63-6FB

End load curves of RML63-6FB

Foxy

Humble

Ontology Parameters:
RML63 Series Parameters and D-H Model

Basic Parameters