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Specification

Specifications​

ItemOpenMANIPULATOR-P (RM-P60-RNH)
DOF6
Payload3 kg
Reach645 mm
Repeatability±0.05 mm
Weight5.76 kg
Operating voltage24 V
ResolutionJoint 1 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 2 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 3 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 4 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 5 : -π(rad) ~ π(rad) , -303,750 ~ 303,750 (pulse)
Joint 6 : -π(rad) ~ π(rad) , -303,750 ~ 303,750 (pulse)
DYNAMIXEL Pro
Model Name		Joint 1, 2 : PH54-200-S500-R (200W)
Joint 3, 4 : PH54-100-S500-R(100W)
Joint 5, 6 : PH42-020-S300-R (20W)
Operating RangeJoint 1 : -π(rad) ~ π(rad)
Joint 2 : -π/2(rad) ~ π/2(rad)
Joint 3 : -π/2(rad) ~ 3π/4(rad)
Joint 4 : -π(rad) ~ π(rad)
Joint 5 : -π/2(rad) ~ π/2(rad)
Joint 6 : -π(rad) ~ π(rad)
Default IDJoint 1 (ID:1), Joint 2 (ID:2), Joint 3 (ID:3),
Joint 4 (ID:4), Joint 5 (ID:5), Joint 6 (ID:6)
Motor typeBrushless DC Servo(H54P Series),
Coreless DC Motor(H42P Series)
Position sensor typeAbsolute Encoder(for Homing),
Incremental Encoder(for Control)
CommunicationsRS485
Communication Baudrate1000000 bps

Dimension​

If you have a gripper(RH-P12-RN(A)), see below.

Workspace​

Home Position​

The diagram below shows the “home position” of DYNAMIXEL-P from OpenMANIPULATOR-P.

D-H Configuration​

  • DH Parameter
LinkLink Length(mm)Link Twist(rad)Joint Offset(mm)Joint Angle(rad)DXL Angle(rad)
10-π/2000
2265.69000
330-π/200
40-π/225800
50-π/2000
600000

Mass Property​

Coordinate​

Total Mass : 5,324g

  • Mass [Kg] : 9.4360595e-01
  • Center of Gravity [m]
    • x : 0.0000000e+00
    • y : -1.7653633e-04
    • z : -1.0030209e-03
  • Inertia Tensor with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 1.5694005e-03 0.0000000e+00 0.0000000e+00
    • Iyx Iyy Iyz : 0.0000000e+00 4.5593385e-04 6.4581824e-09
    • Izx Izy Izz : 0.0000000e+00 6.4581824e-09 1.5561809e-03
  • Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 1.5684218e-03 0.0000000e+00 0.0000000e+00
    • Iyx Iyy Iyz : 0.0000000e+00 4.5498454e-04 1.7354214e-07
    • Izx Izy Izz : 0.0000000e+00 1.7354214e-07 1.5561515e-03
  • Principal Moments of Inertia [Kg * m2]
    • I1 : 4.5498451e-04
    • I2 : 1.5561515e-03
    • I3 : 1.5684218e-03

  • Mass [Kg] : 1.3825862e+00
  • Center of Gravity [m]
    • x : 1.5751501e-02
    • y : -2.2073221e-04
    • z : 1.9913687e-01
  • Inertia Tensor with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 6.7630430e-02 -1.9988597e-05 -5.7477571e-03
    • Iyx Iyy Iyz : -1.9988597e-05 6.7208001e-02 7.4823203e-05
    • Izx Izy Izz : -5.7477571e-03 7.4823203e-05 2.6031353e-03
  • Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 1.2803228e-02 -2.4795661e-05 -1.4109928e-03
    • Iyx Iyy Iyz : -2.4795661e-05 1.2037834e-02 1.4050354e-05
    • Izx Izy Izz : -1.4109928e-03 1.4050354e-05 2.2600348e-03
  • Principal Moments of Inertia [Kg * m2]
    • I1 : 2.0744566e-03
    • I2 : 1.2037112e-02
    • I3 : 1.2989528e-02

  • Mass [Kg] : 1.2126965e+00
  • Center of Gravity [m]
    • x : 3.0352597e-04
    • y : 4.1703880e-05
    • z : 3.8074728e-01
  • Inertia Tensor with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 1.7985424e-01 -9.9417476e-07 -8.1564441e-05
    • Iyx Iyy Iyz : -9.9417476e-07 1.7948679e-01 -1.7705853e-05
    • Izx Izy Izz : -8.1564441e-05 -1.7705853e-05 1.1422079e-03
  • Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 4.0514666e-03 -9.7882420e-07 5.8582868e-05
    • Iyx Iyy Iyz : -9.7882420e-07 3.6839091e-03 1.5501165e-06
    • Izx Izy Izz : 5.8582868e-05 1.5501165e-06 1.1420941e-03
  • Principal Moments of Inertia [Kg * m2]
    • I1 : 1.1409140e-03
    • I2 : 3.6839076e-03
    • I3 : 4.0526481e-03

  • Mass [Kg] : 4.6635550e-01
  • Center of Gravity [m]
    • x : -2.1388493e-06
    • y : -2.2290515e-03
    • z : 5.1387207e-01
  • Inertia Tensor with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 1.2357713e-01 -1.9465317e-09 5.1228604e-07
    • Iyx Iyy Iyz : -1.9465317e-09 1.2339567e-01 5.3769657e-04
    • Izx Izy Izz : 5.1228604e-07 5.3769657e-04 3.3216863e-04
  • Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 4.2687885e-04 0.0000000e+00 0.0000000e+00
    • Iyx Iyy Iyz : 0.0000000e+00 2.4774029e-04 3.5109263e-06
    • Izx Izy Izz : 0.0000000e+00 3.5109263e-06 3.2985146e-04
  • Principal Moments of Inertia [Kg * m2]
    • I1 : 2.4759044e-04
    • I2 : 3.3000130e-04
    • I3 : 4.2687885e-04

  • Mass [Kg] : 4.2561606e-01
  • Center of Gravity [m]
    • x : -2.1268822e-06
    • y : 1.8039922e-04
    • z : 5.9028250e-01
  • Inertia Tensor with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 1.4881319e-01 0.0000000e+00 5.3435266e-07
    • Iyx Iyy Iyz : 0.0000000e+00 1.4872708e-01 -4.3708754e-05
    • Izx Izy Izz : 5.3435266e-07 -4.3708754e-05 2.1040082e-04
  • Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame [Kg * m2]
    • Ixx Ixy Ixz : 5.1431341e-04 0.0000000e+00 0.0000000e+00
    • Iyx Iyy Iyz : 0.0000000e+00 4.2820999e-04 1.6136111e-06
    • Izx Izy Izz : 0.0000000e+00 1.6136111e-06 2.1038697e-04
  • Principal Moments of Inertia [Kg * m2]
    • I1 : 2.1037502e-04
    • I2 : 4.2822194e-04
    • I3 : 5.1431341e-04
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