5-Axis Desktop Robot Arm

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

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.