Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Table 3

The parameters of dynamic model.

Designation	Unit	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6	Joint 7
Joint quality	kg	13.6	13.6	9.79	5.95	4.64	3.33	1.52
Mass center
	mm	0	1	0	85	0	0	0
	mm	0	100	0	0	58.43	0	0
	mm	−100	0	−129.53	111	0	−75	0
Inertia tensor	kgmm^2	Formula (7a)	Formula (7b)	Formula (7c)	Formula (7d)	Formula (7e)	Formula (7f)	Formula (7g)
Generalized displacement
	mm	0	0	0	0	170	0	0
	mm	0	0	0	0	0	0	0
	mm	420	147	535	0	0	401	91
Initial conditions	, , ,