Ontology Parameters:

RX75S Series Parameters and D-H Model

Basic Parameters

Parameter Name		Parameter Value
Basic Parameters	Degrees of Freedom	7
	Joint Brake Type	Joints 1~4: Hard Brake Joints 5~7: Soft Brake
	Working Radius/mm	691
	Effective Rated Payload/kg	5
	Self-weight/kg	8.97
	Repeatability/mm	±0.1
	TCP Line Speed/m/s	≤1.8
	Typical Power/W	≤200
	Instant Peak Power/W	≤600
	Base Dimensions/mm	φ102
	Material	Aluminum Alloy/ABS
Environmental Adaptability	Working Temperature/℃	0~45
	Working Humidity	25~85% No Condensation
Motion Range/°	J1	-175~+175
	J2	-15~+175
	J3	-175~+175
	J4	-105~+105
	J5	-170~+170
	J6	Left Arm: -65 ～ 20 Right Arm: -20 ～ 65
	J7	Left Arm: -100 ～ 90 Right Arm: -90 ～ 100
Maximum Angular Velocity/ °/s	J1	180
	J2	180
	J3	225
	J4	225
	J5	225
	J6	225
	J7	225

Ontology Parameters

Left Arm MDH Model Frame:

Left Arm RXL75S Series MDH Parameters (Modified D-H Parameters):

Installation information: Ry=-90°

joint_id(i)	$a_{i-1}$(mm)	${\alpha }_{i-1}$(°)	$d_i$(mm)	${\theta }_i$(°) / $offse{t}_i$	Remarks
1	0	0	185.5	0
2	0	-90	0	-90
3	0	90	292	90
4	0	90	0	0
5	0	-90	294	90
6	0	90	0	90
7	0	90	0	90
8 (Virtual Axis)	0	90	105	0	(6F) Integrated 6-DoF Force

Note: offset is the deviation between the mechanical zero position and the modeling zero position, i.e. model angle = joint angle + offset.

Right Arm MDH Model Frame:

Right Arm RXR75S Series MDH Parameters (Modified D-H Parameters):
Installation information: Ry=-90°

joint_id(i)	$a_{i-1}$(mm)	${\alpha }_{i-1}$(°)	$d_i$(mm)	${\theta }_i$(°) / $offse{t}_i$	Remarks
1	0	0	185.5	0
2	0	-90	0	-90
3	0	90	292	-90
4	0	90	0	0
5	0	-90	294	90
6	0	90	0	-90
7	0	90	0	90
8 (Virtual Axis)	0	-90	105	0	(6F) Integrated 6-DoF Force

Note: offset is the deviation between the mechanical zero position and the modeling zero position, i.e. model angle = joint angle + offset.

Kinetic Parameters of RX75S Series Link

Left Arm:

joint_id(i)	1	2	3	4	5	6	7
$m$(kg)	1.821	1.774	1.346	1.062	1.027	0.637	0.149
$x$ (mm)	-0.138	0.688	0.217	-0.009	0.449	-0.002	-0.073
$y$ (mm)	-0.982	-98.869	-0.308	89.133	-0.689	-0.177	-26.804
$z$ (mm)	-12.182	-1	-16.346	-1.106	-86.584	-0.105	-23.401
$L_{xx}$(kg·mm²)	3317	25123	3062	11678	9375	356	388
$L_{xy}$(kg·mm²)	-9	103	-9	0	-16	0	0
$L_{xz}$(kg·mm²)	0	0	2	0	11	0	0
$L_{yy}$(kg·mm²)	2995	2084	2706	977	9102	264	190
$L_{yz}$(kg·mm²)	16	-73	-43	22	-70	-2	-37
$L_{zz}$(kg·mm²)	1904	24592	1251	11361	909	353	287
Remarks							6-DoF Force

Right Arm:

joint_id(i)	1	2	3	4	5	6	7
$m$(kg)	1.821	1.774	1.346	1.062	1.027	0.637	0.148
$x$ (mm)	0.138	0.719	-0.201	0.002	-0.456	0.002	-0.072
$y$ (mm)	0.982	-98.87	0.271	89.123	-0.702	-0.177	26.81
$z$ (mm)	-12.182	1.075	-16.361	1.105	-86.593	-0.103	-23.405
$L_{xx}$(kg·mm²)	3317.16	25123.212	3067.296	11676.82	9375.907	356.792	388.712
$L_{xy}$(kg·mm²)	-9.367	109.695	-9.912	-0.226	16.367	-0.059	0.61
$L_{xz}$(kg·mm²)	0.038	-0.537	-1.357	0.028	-12.383	-0.019	0.003
$L_{yy}$(kg·mm²)	2995.229	2084.447	2706.245	977.818	9103.613	264.819	190.275
$L_{yz}$(kg·mm²)	-16.96	88.782	43.058	-22.008	-71.308	-2.907	37.575
$L_{zz}$(kg·mm²)	1904.144	24593.133	1255.706	11360.69	908.896	353.513	287.644
Remarks							6-DoF Force

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.

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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 RX75S robot body has 7 rotational joints, each representing one degree of freedom. As shown in the figure 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).

Joint Distribution:

Left Arm	Right Arm

Workspace

Excluding the cylindrical space directly above and below the base, the workspace of RX75S is a sphere with a radius of 691 mm. 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.

Workspace:

Left Arm	Right Arm

From the workspace cross-section, the area with better operability of the 7-axis robot is shown by the yellow frame in the figure below, presenting an annular region in the workspace as a whole.

Motion Singularities

Left Arm: RXL75S

Singularity Type 1

When q4=0, i.e., the point format is [x,x,x,0,x,x,x].

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

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

Singularity Type 2

When q2=90 and q3=0 (or q3=180), i.e., the point format is [x,90,0 or 180,x,x,x,x].

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

Example point 2: [0,90,0,-100,0,0,0], as shown in the figure below:

Right Arm: RXR75S

Singularity Type 1

When q4=0, i.e., the point format is [x,x,x,0,x,x,x].

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

Example point 2: [0,0,90,0,0,0,90], as shown in the figure below:

Singularity Type 2

When q2=90 and q3=0 (or q3=180), i.e., the point format is [x,90,0 or 180,x,x,x,x].

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

Example point 2: [0,90,0,-100,0,0,0], as shown in the figure below:

Load Curve

The figure below shows the end load curve of the RX75S robotic arm. L is the radial distance of the center of mass of the end load relative to the end flange plane, and Z is the normal distance relative to the end flange plane.