| 质量(kg) | 长度(m) | 质心到关节的距离(m) | 质心的转动惯量(kg × m2) |
L1 | 1.2525 | 0.2440 | 0.1156 | 0.0124 |
L2 | 1.3663 | 0.2440 | 0.0657 | 0.0122 |
L3 | 1.3663 | 0.2440 | 0.0657 | 0.0122 |
L4 | 1.0771 | 0.2440 | 0.1621 | 0.0098 |
L5 | 0.4132 | 0.2440 | 0.1096 | 0.0036 |
L6 | 0.4132 | 0.2440 | 0.1096 | 0.0036 |