Ontology Parameters:
GEN62 Series Parameters and D-H Model

Basic Parameters

Parameter Name		Parameter Value
Basic Parameters	Degrees of Freedom	6
	Joint Brake Type	1~6 joints with soft brakes
	Working Radius/mm	660
	Effective Rated Payload/kg	2
	Self-weight/kg	3.5
	Repeatability/mm	±0.1
	TCP Linear Speed/m/s	≤2.5
	Typical Power/W	≤100
	Peak Power/W	≤180
	Base Size/mm	φ88
	Material	Aluminum alloy/ABS
Environmental Adaptability	Operating Temperature/℃	0~45
Environmental Adaptability	Operating Humidity	25~85% no condensation
Motion Range/°	J1	-173~173
	J2	-101~101
	J3	-31~173
	J4	-59~111
	J5	-88~88
	J6	-360~360
Maximum Angular Speed/°/s	J1	225
	J2	225
	J3	225
	J4	180
	J5	180
	J6	180

Ontology Parameters

MDH model frame:

GEN62-B MDH parameters (modified D-H parameters):

Joint No.(i)	$a_{i - 1}$ (mm)	$α_{i - 1}$ (°)	$d_{i}$ (mm)	$θ_{i}$ / $o f f s e t_{i}$ (°)	Remarks
1	0	0	133.5	0
2	0	-90	3.5	-78.09
3	262.65	0	0	-12.89
4	290.04	0	0	0.98
5	50	-90	0	-90
6	0	-90	63	0	(B) Standard end effector

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 the GEN62 robot link

joint_id(i)	1	2	3	4	5	6
$m$	0.158	1.606	0.351	0.484	0.23	0.063
$x$	-0.001	106.809	142.27	24.175	-0.012	0.052
$y$	-21.715	-5.367	-2.007	-28.658	13.448	0.331
$z$	-30.329	0.802	-23.453	-1.903	-3.731	-13.028
$L_{x x}$	396.698	1188.399	286.46	914.805	137.814	26.795
$L_{x y}$	-0.007	1425.475	72.231	653.808	0.068	0.021
$L_{x z}$	0.001	-294.733	1129.48	0.425	0.029	0.006
$L_{y y}$	301.568	41942.048	10627.596	710.788	73.471	26.722
$L_{y z}$	-63.62	22.027	-14.601	-0.72	2.43	0.218
$L_{z z}$	223.59	42056.282	10445.817	1476.4	117.471	23.059
Remarks						Standard end effector

Description:

$m$ is the mass of the link, $k g$
$x$ is the x-coordinate of the center of mass of the link, $m m$
$y$ is the y-coordinate of the center of mass of the link, $m m$
$z$ is the z-coordinate of the center of mass of the 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, $k g \cdot m m ²$

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 GEN62 robot body has six rotating joints, each representing one degree of freedom. As shown in the figure below.

alt text

Working space

The GEN62 robot has the dual spatial characteristics of a large external envelope and a highly compact internal folding. The base (J1) has a rotation range of ±173°, and together with the continuous rotation of ±360° at the end (J6), it can achieve large-range omnidirectional posture adjustment. The core of its spatial characteristics lies in the large-span motion range of the elbow (J3), −31°∼173°, which enables it to have both a large extension radius and a very high inward folding capability, thereby effectively reducing the proximal interference blind zone. The overall working space balances extension and retraction, and is suitable for obstacle-avoidance operations and multi-posture operations in confined spaces.

alt text

The region with better manipulability is indicated by the yellow box in the figure below, and it forms an overall annular region in the working space.

Schematic diagram of the region with better manipulability

Motion singularities

Singularity Type 1: Shoulder singularity

The shoulder singularity occurs when the wrist center point (i.e., the intersection of the axes of joint 5 and joint 6) lies on the axis of joint 1.

The shoulder singularity is as 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:

Shoulder singularity

Representative point 1: [5.817, -53.625, 80.167, 63.4860, 5.817, 0.003], as shown in the figure below:

Shoulder singularity

Singularity Type 2: Elbow singularity

The singularity occurs when q3=12.89°, that is, when the axes of joints 2, 3 and 4 are coplanar. The point format is [x,x,12.89,x,x,x]

Representative point 1: [0,40,12.89,-50,0,0], as shown in the figure below:

Elbow singularity

Singularity Type 3: Wrist singularity

The wrist singularity of the robotic arm occurs when q5=±90. The point format is [x,x,x,x,±90,x]

Representative point 1: [0,-20,100,0,90,0], as shown in the figure below:

Wrist singularity

Singularity Type 4: Boundary singularity

When the end of the robotic arm reaches its farthest end, q3=12.89 and q5=0. The point format is [x,x,12.89,x,0,x]

Representative point 1: [0,-50,12.89,20,0,0], as shown in the figure below:

Boundary singularity

Payload curve

The figure below shows the payload curve of the end of the GEN62 robotic arm. L is the radial distance of the center of mass of the end payload relative to the end flange plane, and Z is the normal distance relative to the end flange plane.

GEN62-B

Ontology Parameters: GEN62 Series Parameters and D-H Model ​

Basic Parameters ​