[Retracted] Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

Table 1

Linkage parameters for industrial robots.

Connecting rod k number					Variable range	Max speed at rated load	Min speed at rated load
1		−180°	−1		−180°∼180°	154°/ms	10°/ms
2		30°	−0.5		−150°∼30°	152°/ms	12°/ms
3		−60°	0		−130°∼150°	150°/ms	10°/ms
4		60°	0		−340°∼340°	335°/ms	35°/ms
5		−30°	0.5		−120°∼120°	334°/ms	34°/ms
6		180°	1		−340°∼340°	612°/ms	12°/ms