Universal Robots · Collaborative robot · Commercial product

UR20

UR20 is a six-axis collaborative arm from Universal Robots with a 20 kg maximum payload and a 1,750 mm reach.

Full specifications UR20 vs UR30 Universal Robots

Editorial source check: 9 October 2026. Specialist technical review: not yet performed. Why we say this

Machine Index record · Universal Robots

UR20

Maximum payload: 20 kg
Reach: 1,750 mm
Degrees of freedom: 6 rotating joints
Pose repeatability: ±0.1 mm (ISO 9283)

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Key specifications

Every value sourced

Maximum payload: 20 kg [1]
Reach: 1,750 mm [1]
Degrees of freedom: 6 rotating joints [1]
Pose repeatability: ±0.1 mm (ISO 9283) [1]
Maximum TCP speed: 5 m/s [1]
Maximum power consumption: 750 W [1]
Ingress protection: IP65 [1]
Ambient operating temperature: 0–50 °C [1]
Robot arm weight (without cable): 64 kg [1]

Full specifications

47 fields

Performance

Maximum payload What is this?	20 kg [1]Universal Robots lists 25 kg with boundary conditions set out in the manual.
Reach What is this?	1,750 mm [1]
Degrees of freedom What is this?	6 rotating joints [1]
Pose repeatability What is this?	±0.1 mm (ISO 9283) [1]

Motion

Maximum TCP speed What is this?	5 m/s [1]
Joint working ranges What is this?	±360° on all six joints [1]
Maximum joint speeds	±120°/s (base, shoulder); ±150°/s (elbow); ±210°/s (wrists) [1]

Force and torque sensing

Force range, x-y-z	±200.0 N [1]
Force precision	±5.5 N [1]
Force accuracy	±10.0 N [1]
Torque range, x-y-z	±20.0 Nm [1]
Torque precision	±0.2 Nm [1]
Torque accuracy	±1.0 Nm [1]

Safety

Configurable safety functions	23 [1]
Safety compliance	EN ISO 13849-1 (PLd, Category 3); EN ISO 10218-1; UL 1740 [1]

Power

Maximum power consumption	750 W [1]

Environment

Ingress protection	IP65 [1]
Ambient operating temperature	0–50 °C [1]
Humidity	≤90% RH, non-condensing [1]
Noise	< 65 dB(A) [1]
Cleanroom classification (ISO 14644-1)	Class 4 at ≤80% velocity and payload [1]

Physical

Robot arm weight (without cable)	64 kg [1]
Footprint	Ø245 mm [1]
Mounting	Any orientation [1]
Materials	Aluminium, plastic, steel [1]
Robot arm cable length	6 m [1]
Status indication	Light ring at the robot base [1]

Tool flange and I/O

Tool flange What is this?	EN ISO 9409-1-80-6-M8 [1]
Tool connector	M8 8-pin female [1]
Tool digital I/O	2 inputs, 2 outputs [1]
Tool analog inputs	2, or 1 × RS485 [1]
Tool I/O power supply	12/24 V; 2 A dual pin, 1 A single pin [1]

Controller and communications

Controller	Control box (OEM version also available) [1]
Control box ingress protection	IP44 [1]
Control box I/O	16 digital in, 16 digital out, 2 analog in, 2 analog out, 4 quadrature digital inputs [1]
Control box I/O power supply	24 V, 2 A [1]
Industrial protocols	Modbus TCP (client/server), EtherNet/IP adapter, PROFINET device, PROFIsafe, ROS/ROS2 [1]
Hardware interfaces	Ethernet 1 Gb/s, USB 2.0, USB 3.0, Mini DisplayPort; injection moulding machine interface on the OEM version [1]
Control box power source	100–240 VAC, 47–440 Hz [1]
Control box size (W × H × D)	460 × 449 × 254 mm [1]
Control box weight	12 kg [1]

Programming

Programming	12-inch touchscreen with PolyScope graphical user interface [1]

Teach pendant

Teach pendant display	1280 × 800 pixels [1]
Teach pendant size (W × H × D)	300 × 231 × 50 mm [1]
Teach pendant weight	1.8 kg including 1 m of cable [1]
Teach pendant cable length	4.5 m [1]
Teach pendant ingress protection	IP54 [1]

Joint data

Why joint limits matter

Joint	Working range	Maximum speed	Source
Base	±360°	±120°/s	[1]
Shoulder	±360°	±120°/s	[1]
Elbow	±360°	±150°/s	[1]
Wrist 1	±360°	±210°/s	[1]
Wrist 2	±360°	±210°/s	[1]
Wrist 3	±360°	±210°/s	[1]

Kinematics: DH parameters

DH and inverse kinematics explained

Standard Denavit–Hartenberg parameters as published by Universal Robots. θ is the joint variable, so no fixed θ offset is listed. Universal Robots notes that its “a” corresponds to the “r” parameter in some DH references. [2]

UR20 nominal Denavit–Hartenberg parameters, link masses and centres of mass
Joint	a (m)	d (m)	α (rad)	Mass (kg)	Centre of mass (m)
1	0	0.2363	π/2	16.343	[0, −0.0610, 0.0062]
2	−0.8620	0	0	29.632	[0.5226, 0, 0.2098]
3	−0.7287	0	0	7.879	[0.3234, 0, 0.0604]
4	0	0.2010	π/2	3.054	[0, −0.0026, 0.0393]
5	0	0.1593	−π/2	3.126	[0, 0.0024, 0.0379]
6	0	0.1543	0	0.846	[0, −0.0003, −0.0318]

Universal Robots publishes this table as “UR20”.
These are nominal design values. A specific arm's calibrated kinematics can differ; check your controller's calibration data before relying on nominal values for absolute positioning.

Where it sits in the range

UR20 lists 20 kg, or 25 kg under boundary conditions in the manual, with a 1,750 mm reach, the longest of the Universal Robots arms in this index. Universal Robots describes it as the first of its next-generation high-performance cobots.

It uses a larger EN ISO 9409-1-80-6-M8 tool flange than the 50 mm flange on the e-Series arms, so check tool and adaptor compatibility when moving tooling between models.

What the datasheet cannot answer

A long reach at 20 kg puts heavy loads far from the base; the risk assessment and the payload conditions in the manual decide what a cell can safely do. RoboMag has not physically tested UR20.

Comparisons

Build your own comparison

UR20 vs UR30Universal Robots UR20 and UR30 compared on payload, reach, speed, repeatability, joints, force sensing, protection and power, with the source for every value.Robot battle · verified 9 October 2026

Official documents

Opens the manufacturer’s site

Primary sources

[1] UR20 technical specification (online datasheet)Universal Robots · Updated September 2026 · accessed 9 October 2026
[2] DH parameters for calculations of kinematics and dynamicsUniversal Robots · Support article; UR5e/UR7e table · accessed 8 October 2026