The MH5 is Yaskawa Motoman’s compact, high-speed 6-axis arm, built for small-part material handling, dispensing, and assembly in tight factory spaces. It’s a genuinely vendor-published description — this gallery entry links straight to Yaskawa’s own GitHub organization, not a third-party reconstruction.
The mechanism
Six revolute joints in series give the arm its six degrees of freedom — no mimic joints, no closed kinematic loops, matching Yaskawa’s own “6-axis” spec sheet exactly.
A caveat worth knowing: neither variant’s URDF carries any mass or inertia data — none of the ~40 support packages in Yaskawa’s own repository do. ARMOR estimates mass for links missing it, so the arm still simulates, but the real, vendor-measured values aren’t available here the way they are for some other entries in this gallery.
Choosing a variant
Both variants share the identical joint structure and most of the same meshes — they differ only in reach:
- MH5 — the standard configuration, 706 mm reach and 5 kg payload. The picture above is this variant.
- MH5L — the extended-reach configuration, 895 mm reach, with longer upper-arm and forearm segments (link_2 and link_4) than the standard MH5.
About these files — read before importing
This links directly to
motoman_ros2_support_packages,
hosted under Yaskawa’s own GitHub organization (yaskawa-global). ARMOR links directly to
that repository rather than re-hosting anything, and expands the xacro macros itself after
downloading — both variants are published as xacro upstream, and what you get is exactly what
Yaskawa publishes, unmodified.
