The CR5 is Dobot’s signature collaborative robot — a 6-axis cobot built to work directly alongside people without a safety cage, the same category Universal Robots pioneered and Dobot has built a large, cost-competitive lineup around since the CR5’s 2019 debut.
The mechanism
Six revolute joints in series give the CR5 a full six degrees of freedom, enough to reach an arbitrary pose in its workspace without redundancy. No mimic joints, no closed loops — every movable joint is an independent actuator, a straightforward serial arm.
About these files — read before importing
Dobot publishes a real, literal URDF per model — cr5_robot.urdf here, alongside
siblings for the rest of the CR/Nova lineup (CR3, CR7, CR10, CR12, CR16, ME6, Nova2,
Nova5) in the same repository — rather than a shared xacro template. This gallery entry
links directly to the official
TCP-IP-ROS-6AXis repository’s CR5 files,
unmodified. Open in ARMOR downloads them straight from Dobot’s own repository —
nothing here is a pre-baked derivative of Dobot’s files.