A four-axis SCARA arm from Mitsubishi’s MELFA RH-CRH lineup, a distinct structural family from the RH-FRH. A four-axis SCARA arm, 4 DOF, no mimic joints or closed loops.
The mechanism
Three revolute joints plus one prismatic Z-axis — the classic SCARA arrangement: fast, rigid horizontal reach with a simple vertical plunge for pick-and-place, rather than a full six-axis arm’s arbitrary orientation.
About these files — read before importing
This gallery entry links directly to the official
melfa_ros2_driver
repository’s melfa_description package, unmodified — a real, literal URDF (not a xacro
template needing expansion), with visual and collision meshes for every link.
No mass or inertial data is declared anywhere in this URDF — confirmed across the whole
melfa_ros2_driver family, not unique to this model. ARMOR estimates mass for links missing
it, so the model still simulates; the numbers on this page are ARMOR’s estimate, not a real,
vendor-measured figure.