PAROL6 numbers at a glance

Mechanical

Reach	400 mm with standard gripper
Payload	1 kg near base, 0.5 kg across workspace
Weight	5.5 kg
Repeatability	0.1 mm
Material	3D-printed PETG
Power	~40 W
Microstepping	1/32 on all axes

Link dimensions (mm)

$a_1 = 110.50$ · $a_2 = 23.42$ · $a_3 = 180.00$ · $a_4 = 43.50$ · $a_5 = 176.35$ · $a_6 = 62.80$ · $a_7 = 45.25$

DH table (standard convention)

i	$\theta$	$\alpha$	$d$	$a$
1	$\theta_1$	$-\pi/2$	110.50	23.42
2	$\theta_2 - \pi/2$	$\pi$	0	180.00
3	$\theta_3 + \pi$	$\pi/2$	0	−43.50
4	$\theta_4$	$-\pi/2$	−176.35	0
5	$\theta_5$	$\pi/2$	0	0
6	$\theta_6 + \pi$	$\pi$	−62.80	−45.25

Wrist centre offset: $p_{wc} = p_{\text{flange}} + R_{\text{flange}} \cdot \begin{bmatrix} 45.25 & 0 & -62.80 \end{bmatrix}^{\mathsf{T}}$ mm

Forearm effective length: $L = 181.636$ mm, built-in bend $\varphi = 13.856°$

Reductions, ranges, and resolution

Joint	Ratio	Range	Limits (°)	Microsteps/°
J1	6.4 (belt)	250°	−123.05 … +123.05	113.78
J2	20 (planetary)	141°	−145.01 … −3.38	355.56
J3	18.1 (planetary+belt)	180°	+107.87 … +287.87	321.78
J4	4 (belt)	212°	−105.47 … +105.47	71.11
J5	4 (belt)	180°	−90 … +90	71.11
J6	10 (planetary)	continuous	0 … 360	177.78

Standby positions: J1 = 0°, J2 = −90°, J3 = 180°, J4 = 0°, J5 = 0°, J6 = 180°.

Thermal limits (PETG): holding 48–61 °C, moving 52–73 °C. Reduce current in software for extended operation.