Ontology Parameters:

RX75 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 1~4: Hard Brake Joints 5~7: Soft Brake
	Working Radius/mm	Six-Axis Force Version: 709.2 Six-Axis Force + Vision Version: 732
	Effective Rated Payload/kg	5
	Self-weight/kg	Six-Axis Force Version: 8.8 Six-Axis Force + Vision Version: 8.9
	Repeatability/mm	±0.02
	TCP Line Speed/m/s	≤2.2
	Typical Power/W	≤200
	Instant Peak Power/W	≤1000
	Installation Angle	Side Mount: Ry=-90 °
	Base Dimensions/mm	φ102
	Material	Aluminum Alloy/ABS
	End Camera	D405 (Standard on Vision Version)
Environmental Adaptability	Operating Temperature/℃	0-45
	Operating Humidity	25~85% Non-condensing
Motion Angle Range/°	J1	-173~+173
	J2	-35~+178
	J3	-173~+173
	J4	-130~+15
	J5	-173~+173
	J6	-55~+55
	J7	Left Arm: -109~+35 Right Arm: -35~+109
Maximum Angular Velocity/°/s	J1	180
	J2	180
	J3	225
	J4	225
	J5	225
	J6	225
	J7	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 Left-Arm RXL75 Series (Modified D-H Parameters):

Installation Info: Ry=-90°

joint_id(i)	$a_{i-1}$(mm)	${\alpha }_{i-1}$(°)	$d_i$(mm)	${\theta }_i$(°) / $offse{t}_i$	Remarks
1	0	0	191.5	0
2	0	-90	0	-90
3	0	90	322	90
4	0	90	0	0
5	0	-90	275.5	0
6	0	90	0	90
7	15.5	90	0	90
8	0	90	96.2	0	(6FB) Integrated Six-Axis Force
			119		(6FB-V) Integrated Six-Axis Force + Vision

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

MDH Parameters of Right-Arm RXR75 Series (Modified D-H Parameters):

Installation Info: Ry=-90°

joint_id(i)	$a_{i-1}$(mm)	${\alpha }_{i-1}$(°)	$d_i$(mm)	${\theta }_i$(°) / $offse{t}_i$	Remarks
1	0	0	191.5	0
2	0	-90	0	-90
3	0	90	322	-90
4	0	90	0	0
5	0	-90	275.5	0
6	0	90	0	90
7	15.5	90	0	-90
8	0	-90	96.2	0	(6FB) Integrated Six-Axis Force
			119		(6FB-V) Integrated Six-Axis Force + Vision

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

Kinetic Parameters of RX75 Series Link

Left Arm:

Joint No.	$L_{xx}$(kg·mm²)	$L_{xy}$(kg·mm²)	$L_{xz}$(kg·mm²)	$L_{yy}$(kg·mm²)	$L_{yz}$(kg·mm²)	$L_{zz}$(kg·mm²)	$x$ (mm)	$y$ (mm)	$z$ (mm)	$m$(kg)
1	3136.43	41.478	-1.145	2483.576	78.947	1970.778	-0.488	-13.727	-10.765	1.559
2	37530.89	22.717	2.041	1068.573	-47.546	37444.566	-0.112	-148.134	4.111	1.394
3	2171.46	-0.149	-4.264	1609.222	-83.494	1253.185	0.032	15.649	-11.225	1.117
4	6216.32	0.007	-0.007	359.898	48.906	6174.838	-0.001	85.449	4.844	0.673
5	9937.67	-0.063	0.082	9288.177	899.812	1337.425	-0.001	-14.741	-80.627	1.13
6	360.632	-8.175	-2.382	402.132	-1.155	421.185	13.909	-1.02	3.245	0.559
7	3254.6	-841.422	0.811	1355.093	-17.714	4268.534	20.024	-71	4.396	0.483

Right Arm:

Joint No.	$L_{xx}$(kg·mm²)	$L_{xy}$(kg·mm²)	$L_{xz}$(kg·mm²)	$L_{yy}$(kg·mm²)	$L_{yz}$(kg·mm²)	$L_{zz}$(kg·mm²)	$x$ (mm)	$y$ (mm)	$z$ (mm)	$m$(kg)
1	3144.289	-0.096	-2.729	2483.576	22.265	1953.83	0.018	-13.67	-10.1	1.559
2	37594.181	42.369	-3.602	1049.311	56.439	37524.126	-0.197	-149.264	-3.905	1.384
3	2170.993	6.949	2.336	1609.222	84.454	1253.793	-0.154	-15.652	-11.241	1.117
4	6201.568	-0.116	-0.007	345.166	-48.523	6170.874	0	86.537	-4.411	0.665
5	9937.599	-0.05	-0.006	9283.329	-899.736	1337.249	0	14.739	-80.627	1.13
6	360.168	-8.3	2.383	402.131	1.103	421.185	13.908	-1.017	-3.245	0.559
7	3254.587	841.524	-0.805	1355.088	15.095	4268.521	20.008	71	4.302	0.483

Description:

• $m$: Mass of the link, unit: $kg$
• $x$: X-coordinate of the center of mass of the link, unit: $mm$
• $y$: Y-coordinate of the center of mass of the link, unit: $mm$
• $z$: Z-coordinate of the center of mass of the link, unit: $mm$
• $L_{xx}$, $L_{xy}$, $L_{xz}$, $L_{yy}$, $L_{yz}$, $L_{zz}$: Principal moments of inertia described in the link coordinate system, unit: $kg·mm²$

Remarks:

• Data above are sourced from CAD design values.
• If inertial parameters in the center of mass coordinate system are required, the Parallel Axis Theorem can be used. The calculation method is described as follows.

---

Assuming an output coordinate system $\{i\}$, and the center-of-mass coordinate system aligned with $\{i\}$ is $\{c\}$. The coordinates of the center of mass in frame $\{i\}$ are $P_c=[x_c,y_c,z_c{]}^T$. 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:

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

Joint Distribution and Dimension Description

The RX75 robot imitates the human arm and has 7 rotational joints, each representing one degree of freedom. As shown in the figures below, the robot joints include shoulder (joint 1), shoulder (joint 2), shoulder (joint 3), elbow (joint 4), wrist (joint 5), wrist (joint 6), and wrist (joint 7).

RXBL - Joint Distribution:

RXBR - Joint Distribution:

Workspace

Excluding the cylindrical space directly above and below the base, the workspace of RX75 is a sphere with a radius of 709 mm (732 mm for the vision version). When selecting the robot installation position, be sure to consider the cylindrical space directly above and below the robot and avoid moving the tool into this area as much as possible.

In actual applications: Joint 1 range: ±173 ° Joint 2 range: -35 ~ +178 ° Joint 3 range: ±173 ° Joint 4 range: -130 ~ +15 ° Joint 5 range: ±173 ° Joint 6 range: ±55 ° Joint 7 left arm: -109 ~ +35 ° Joint 7 right arm: -35 ~ +109 °

RXBL - Workspace:

RXBR - Workspace:

Motion Singularities

Left Arm: RXL75

Singularity Type 1 (when joint 4 = 0, point format [x,x,x,0,x,x,x]):

Example point 1: [-90,30,-90,0,90,0,0], as shown below:

Example point 2: [0,0,90,0,-90,0,-90], as shown below:

Singularity Type 2 (when q2=90 and q3=0 or q3=180, point format [x,90,0 or 180,x,x,x,x]):

Example point 1: [-90,90,0,-90,0,0,0], as shown below:

Example point 2: [0,90,0,-120,0,0,0], as shown below:

Right Arm: RXR75

Singularity Type 1 (when joint 4 = 0, point format [x,x,x,0,x,x,x]):

Example point 1: [90,30,-90,0,90,0,0], as shown below:

Example point 2: [0,0,90,0,-90,0,-90], as shown below:

Singularity Type 2 (when q2=90 and q3=0 or q3=180, point format [x,90,0 or 180,x,x,x,x]):

Example point 1: [90,90,0,-90,0,0,0], as shown below:

Example point 2: [0,90,0,-120,0,0,0], as shown below:

Load Curves

The following figures show the end load curves of RX75-6FB and RX75-6FB-V manipulators. Where L is the radial distance from the center of mass of the end load to the end flange plane, and Z is the normal distance from the center of mass of the end load to the end flange plane.