The purpose of this article is to guide the user to distinguish the model of the UFACTORY xArm by the SN of the UFACTORY xArm, so that the user can obtain the kinematic and dynamic parameters of the corresponding model of the UFACTORY xArm.

### ● Method of distinguishing UFACTORY xArm model through SN number  ①:

There are three representations for this position: S/I/F ⑩:

There are three representations for this position: L/B/0

1. When ⑩ position is 0, Please send the SN of the UFACTORYxArm to technical support (email: support@ufactory.cc).

2. When ⑩ position is L, it means that the robotic arm is model 2.

3. When ⑩ position is B, it means that the robotic arm is model 1/model 3

3-1: When the position ⑥⑦ is 04-12 and the position ⑧⑨ is 20, the model of the UFACTORY xArm is model 3 (such as 0420).

3-2: When the position ⑥⑦⑧⑨ is other numbers, the model of the UFACTORY Arm is model 1.

### ● Kinematic and Dynamic Parameters of UFACTORY xArm

Annotation of coordinate representation:

Black dot (●):

This means the direction is pointing out of the viewing surface. White dot (○):

This means the direction is pointing into the viewing surface. * Please note the provided Dynamic Parameters are just for reference.

### 1) UFACTORY xArm5 Modified D-H Parameters  ### 2) UFACTORY xArm5 Standard D-H Parameters  Note:

Tx_offset’ is the offset joint angle from the mathematical zero position to the mechanical zero position shown in the picture.

T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°);

T3_offset = atan(284.5/53.5)+atan(0.3425/0.0775) = 2.7331843 (156.599924°);

a2 = sqrt(284.5^2+53.5^2) = 289.48866;

T4_offset = -atan(342.5/77.5) = -1.3482664 (-77.249974°);

a3 = sqrt(77.5^2+342.5^2) = 351.158796;

### 3) UFACTORY xArm5 xArm Mass Parameters ### UFACTORY xArm 5-Model 1 ### UFACTORY xArm 5-Model 2 ### UFACTORY xArm 5-Model 3 ### 1) UFACTORY xArm 6 Modified D-H Parameters  ### 2) UFACTORY xArm 6 Standard D-H Parameters  Note:

Tx_offset’ is the offset joint angle from the mathematical zero position to the mechanical zero position shown in the picture.

a2 = sqrt(284.5^2+53.5^2) = 289.48866;

T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°);

T3_offset = -T2_offset = 1.3849179 (79.34995°);

### 3) UFACTORY xArm 6 Mass Parameters UFACTORY xArm 6-Model 1 UFACTORY xArm 6-Model 2 UFACTORY xArm 6-Model 3 ### 1) UFACTORY xArm7 Modified D-H Parameters  ### 2) UFACTORY xArm7 Standard D-H Parameters  ### 3) UFACTORY xArm 7 Mass Parameters UFACTORY xArm7-Model 1 UFACTORY xArm7-Model 2 UFACTORY xArm7-Model 3 