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

### ● Method of distinguishing 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**

- When ⑩ position is
**0**, Please send the SN of the xArm to technical support (email: support@ufactory.cc) . - When ⑩ position is
**L**, it means that the robotic arm is**model 2**. - 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 xArm is **model 3** (such as 0420).

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

### ● Kinematic and Dynamic Parameters of xArm

**Annotation of coordinate representation:**

Black dot (●):

Means the direction is pointing out of the viewing surface.

White dot (○):

Means the direction is pointing into the viewing surface.

*** Please note the provided Dynamic Parameters are just for reference.**

### 1. xArm 5

**1) xArm5 Modified D-H Parameters**

**2) xArm5 Standard D-H Parameters**

**Note:**

‘**Tx_offset**’ is the offset joint angle from 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) **xArm5 **xArm Mass Parameters

**xArm 5-Model 1**

**xArm 5-Model 2**

### xArm 5-Model 3

### 2. xArm 6

**1) xArm 6 Modified D-H Parameters**

**2) xArm 6 Standard D-H Parameters**

**Note:**

‘**Tx_offset**’ is the offset joint angle from 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) xArm 6 Mass Parameters

**xArm 6-Model 1**

**xArm 6-Model 2**

**xArm 6-Model 3**

### 3. xArm 7

**1) xArm7 Modified D-H Parameters**

**2) xArm7 Standard D-H Parameters**

### 3) xArm 7 Mass Parameters

**xArm7-Model 1**

**xArm7-Model 2**

**xArm7-Model 3**