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{
"Author": "AnyCAD",
"Name": "ABB6700_ZF 6R",
"Description": "ABB6700_ZF 6R..",
"ModelPath": ".",
"ModelType": "BREP",
"Arms": [
{
"Name": "",
"Joints": [
{
"Name": "Base",
"Type": "Fixed",
"Model": "jizuo.brep",
"DH": {
"Alpha": 0,
"A": 0,
"D": 0,
"Theta": 0
},
"BiasDH": null
},
{
"Name": "AXIS1",
"Type": "Revolute",
"Model": "AXIS1.brep",
"DH": {
"Alpha": 0,
"A": 0,
"D": 780,
"Theta": 0
},
"BiasDH": null
},
{
"Name": "AXIS2",
"Type": "Revolute",
"Model": "AXIS2.brep",
"DH": {
"Alpha": -90,
"A": 320,
"D": 0,
"Theta": -90
},
"BiasDH": null
},
{
"Name": "AXIS3",
"Type": "Revolute",
"Model": "AXIS3.brep",
"DH": {
"Alpha": 0,
"A": 1125,
"D": 0,
"Theta": 0
},
"BiasDH": null
},
{
"Name": "AXIS4",
"Type": "Revolute",
"Model": "AXIS4.brep",
"DH": {
"Alpha": -90,
"A":200,
"D": 1142.5,
"Theta": 0
},
"BiasDH": null
},
{
"Name": "AXIS5",
"Type": "Revolute",
"Model": "AXIS5.brep",
"DH": {
"Alpha": 90,
"A": 0,
"D": 0,
"Theta": 0
},
"BiasDH": null
}
,
{
"Name": "AXIS6",
"Type": "Revolute",
"Model": "AXIS6.brep",
"DH": {
"Alpha": -90,
"A": 0,
"D": 1000,
"Theta": 180
},
"BiasDH": null
}
]
}
],
"Transform": {
"Location": [
0,
0,
0
],
"Angle": 0,
"Scale": 0
},
"AxisSize": 100
}
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