Brackets and mounts
5-Axis Desktop Robot Arm
- Bounding box
- 130 × 130 × 798 mm
- Engine
- 3D Printing B-rep
- Parameters
- 37
- Published
- November 4, 2026
Download
Free to download and use. See the terms.
The prompt
esign a 5-axis desktop articulated robot arm as a jointed assembly for URDF export. All dimensions in mm. Overall: round floor-mounted base 130 mm diameter, total height about 750 mm upright, reach about 560 mm horizontal at full extension, payload 1 kg. Every link is a simplified mechanical body: hollow rectangular tube with 3 mm walls and clevis-style end brackets that mate with the next joint's housing. No cables, no wiring, no electronics boxes. Kinematic chain, base to tool: - base_link: round plate 130 mm diameter, 50 mm thick, plus a cylindrical pedestal 80 mm tall, 70 mm diameter. - joint1: vertical yaw axis, range -170 to +170 deg, seated in the pedestal. - link1: shoulder column 80 mm tall with a U-shaped clevis at the top. - joint2: shoulder pitch, horizontal axis, range -100 to +100 deg. - link2: upper arm 250 mm long, 60 x 45 mm tube section. - joint3: elbow pitch, horizontal axis, range -140 to +140 deg. - link3: forearm 220 mm long, 50 x 40 mm tube section. - joint4: wrist pitch, horizontal axis, range -120 to +120 deg; 70 mm wrist block. - joint5: tool roll, axis along the forearm, range -180 to +180 deg. - tool0: 50 mm diameter flange, 40 mm long. Each joint must show a cylindrical housing and a mating fork on the adjacent link so the arm can be posed with the joint sliders. Place every link frame on its joint axis: +Z for the yaw and roll joints, +Y for all pitch joints. URDF: links base_link, link1..link4, tool0; joints joint1..joint5, type revolute with the limits above, effort 30 Nm, velocity 2 rad/s, masses and inertias for aluminium (2700 kg/m3). Export the URDF and a ROS 2 package.
Parameters
| Name | Value | Range |
|---|---|---|
| Base plate diameter | 130 mm | 100 – 200 |
| Base plate height | 50 mm | 30 – 80 |
| Pedestal diameter | 70 mm | 50 – 100 |
| Pedestal height | 80 mm | 50 – 120 |
| Link1 yaw housing diameter | 60 mm | 40 – 80 |
| Link1 yaw housing height | 20 mm | 10 – 30 |
| Link1 column width | 44 mm | 30 – 60 |
| Link1 column depth | 36 mm | 25 – 50 |
| Link1 column height | 50 mm | 30 – 70 |
| Clevis inner gap | 30 mm | 20 – 40 |
| Clevis cheek thickness | 8 mm | 5 – 12 |
| Clevis cheek height | 20 mm | 15 – 30 |
| Clevis pin diameter | 10 mm | 6 – 16 |
| Link2 length | 250 mm | 200 – 300 |
| Link2 tube width | 60 mm | 40 – 80 |
| Link2 tube height | 45 mm | 30 – 60 |
| Link2 wall thickness | 3 mm | 2 – 5 |
| Link2 proximal hub diameter | 24 mm | 16 – 32 |
| Link3 length | 220 mm | 180 – 260 |
| Link3 tube width | 50 mm | 35 – 70 |
| Link3 tube height | 40 mm | 30 – 55 |
| Link3 wall thickness | 3 mm | 2 – 5 |
| Link4 length | 70 mm | 50 – 100 |
| Link4 block width | 40 mm | 30 – 50 |
| Link4 block depth | 30 mm | 20 – 40 |
| Roll housing outer diameter | 44 mm | 30 – 60 |
| Roll housing inner diameter | 30 mm | 20 – 40 |
| Roll housing height | 20 mm | 10 – 30 |
| Tool flange diameter | 50 mm | 40 – 70 |
| Tool flange length | 40 mm | 30 – 70 |
| Tool roll interface diameter | 29 mm | 20 – 35 |
| Tool roll interface height | 22 mm | 15 – 35 |
| Elbow housing diameter | 50 mm | 35 – 65 |
| Elbow housing length | 56 mm | 40 – 70 |
| Wrist housing diameter | 40 mm | 30 – 55 |
| Wrist housing length | 50 mm | 35 – 65 |
| Pin clearance | 0.5 mm | 0.2 – 1 |
Every value above is a live dimension. Open a model like this in the editor and each one becomes a slider you can drag before exporting.
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