Manipulator Teardown

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Manipulator

Import file

Exploded view

t = 0.00

1 · Links: p′ = p + λ·s₁(t)·ûû = unit vector of the joint's origin offset in its parent frame

2 · Assemblies: p′ = p + d·s₂(t)·ââ = joint axis for actuator stacks (part k at d = d₀ + k·g), outward normal for lids and rings

3 · Fasteners: p′ = p + d·s₃(t)·êê = each screw's own axis, head-ward; pins and washers follow their bore

Inspector

Official mesh Documented spec Standard part Estimated

Parts index

Flashcards

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Joint space

What the sources say

Method. Exteriors are the manufacturers' published meshes placed on their published kinematics. Fasteners come from service manuals, installation guides, ISO/DIN dimensions, and hole features measured by slicing those meshes. For the ARX5, screws and pins are the separate solids in ARX's own CAD, sized by measurement. Sealed joint internals are not published by any of the three makers, so they follow patents and datasheets and are marked Estimated.

Acronyms

DoF Degrees of Freedom · URDF Unified Robot Description Format · ROS Robot Operating System · GLB binary GL (Graphics Library) Transmission Format · DAE Digital Asset Exchange (COLLADA) · STL Stereolithography mesh · STEP Standard for the Exchange of Product data · CAD Computer-Aided Design · ISO International Organization for Standardization · DIN Deutsches Institut für Normung · SHCS Socket Head Cap Screw · PCD Pitch Circle Diameter · PCB Printed Circuit Board · BLDC Brushless Direct Current · QDD Quasi-Direct Drive · CAN Controller Area Network · FT Force-Torque · IP Ingress Protection · TCP Tool Center Point

An exploded view is al-jabr (الجبر, "the restoring of broken parts", the root of algebra) run in reverse: every part leaves along the axis it is assembled on.