Here we list all the supported robot model structures.

Type 61

Struct 61

The posture in the picture is the robot's zero pose.
The typical robots of this structure are lm3, extended version lm3.

The typical modified DH parameter table:

Joint(i)	d(i)	a(i-1)	alpha(i-1)
1	0.21583	0	0
2	0		PI
3	0	-0.28	0
4	0.12063	-0.26	0
5	0.09833	0	PI/2
6	0.08343	0	-PI/2

The typical link dynamic parameter table:

Link(i)	Mass	Center of Gravity	Inertia Matrix [Ixx,Iyy,Izz,Ixy,Ixz,Iyz]
1	2.147	[0, -0.011, -0.015]	[0.008239,0.007609,0.003257,0,0,0.0003238]
2	1.972	[-0.134, 0, 0.094]	[0.001713,0.03361,0.03385,0,0.00007375,0]
3	1.668	[-0.102, 0, 0.019]	[0.001709,0.02256,0.02238,0,-0.002751,0]
4	0.969	[0, 0.011, -0.039]	[0.001874,0.001781,0.0007962,0,0,-0.0004004]
5	0.969	[0, -0.011, -0.039]	[0.001874,0.001781,0.0007962,0,0,0.0004004]
6	0.584	[0, 0, -0.049]	[0.0005043,0.0005156,0.0005156.0004119313,0,0,0]

Type 51

TODO Add a picture.

The typical robots of this structure are 5 joint lm3, a tricky modification of lm3 (remove last joint and link).

The typical modified DH parameter table:

Joint(i)	d(i)	a(i-1)	alpha(i-1)
1	0.21583	0	0
2	0	0	$/2$
3	0	-0.38	0
4	0.12063	-0.355	0
5	0.08343	0	$/2$

The typical link dynamic parameter table:

Link(i)	Mass	Center of Gravity	Inertia Matrix [Ixx,Iyy,Izz,Ixy,Ixz,Iyz]
1	2.31	[0, -0.004834, -0.008972]	[0.0093,0.00913,0.00303,0,0,0]
2	2.1612	[-0.18435, 0, 0.09428]	[0.0211,0.1554,0.13643,0,0.03767,0]
3	1.8508	[-0.14386, 0, 0.01892]	[0.002519,0.08222,0.08138,0,0.00121,0]
4	0.93256	[0, 0.011, -0.03772]	[0.0032645,0.003061,0.000866,0,0,0]
5	0.5782	[0, 0, -0.04882]	[0.001883,0.0018889,0.000404,0,0,0]