# Solid UR5 CAD Models **URL:** \ **Category:** General Application Help: How do I?\ **Created:** [August 7, 2021, 5:07pm UTC](https://forum.universal-robots.com/t/solid-ur5-cad-models/15838 "2021-08-07T17:07:43Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![deogratias.kibira1](https://avatars.discourse-cdn.com/v4/letter/d/bb73d2/32.png) [@deogratias.kibira1](https://forum.universal-robots.com/u/deogratias.kibira1)\ **Post date:** [August 7, 2021, 5:07pm UTC](https://forum.universal-robots.com/t/solid-ur5-cad-models/15838/1 "2021-08-07T17:07:43Z")
We have a UR robots in our laboratory. I am developing models that require using solid models of UR robots along with their inertial parameters. Does anyone know how I can obtain these solid models? Those available on the site are mesh or surface. ---
**Author:** ![Carlos\_de\_UR](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/carlos_de_ur/32/5888_2.png) [@Carlos\_de\_UR](https://forum.universal-robots.com/u/Carlos_de_UR)\ **Post date:** [August 11, 2021, 12:34pm UTC](https://forum.universal-robots.com/t/solid-ur5-cad-models/15838/2 "2021-08-11T12:34:38Z")
Hi You can obtain 3D models from our Support site, Downloads, Mechanical section: [https://www.universal-robots.com/download/mechanical-e-series/ur3e/robot-step-file-ur3e-e-series/](https://www.universal-robots.com/download/mechanical-e-series/ur3e/robot-step-file-ur3e-e-series/) [https://www.universal-robots.com/download/mechanical-e-series/ur5e/robot-step-file-ur5e-e-series/](https://www.universal-robots.com/download/mechanical-e-series/ur5e/robot-step-file-ur5e-e-series/) [https://www.universal-robots.com/download/mechanical-e-series/ur10e/robot-step-file-ur10e-e-series/](https://www.universal-robots.com/download/mechanical-e-series/ur10e/robot-step-file-ur10e-e-series/) [https://www.universal-robots.com/download/mechanical-e-series/ur16e/robot-step-file-ur16e-e-series/](https://www.universal-robots.com/download/mechanical-e-series/ur16e/robot-step-file-ur16e-e-series/) And Kinematics and Dynamics parameters from this article in our Support site, Articles: [https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/](https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/) Best regards ---
**Author:** ![deogratias.kibira1](https://avatars.discourse-cdn.com/v4/letter/d/bb73d2/32.png) [@deogratias.kibira1](https://forum.universal-robots.com/u/deogratias.kibira1)\ **Post date:** [August 14, 2021, 4:50pm UTC](https://forum.universal-robots.com/t/solid-ur5-cad-models/15838/3 "2021-08-14T16:50:49Z")
Hello, Thank you for replying. At this time, we are still working with the old CB series, and it is for these that we’re interested in the CAD models. We hope we can get these. Thank you, Deogratias ---
**Author:** ![iach](https://avatars.discourse-cdn.com/v4/letter/i/b3f665/32.png) [@iach](https://forum.universal-robots.com/u/iach)\ **Post date:** [August 15, 2021, 11:20pm UTC](https://forum.universal-robots.com/t/solid-ur5-cad-models/15838/4 "2021-08-15T23:20:59Z")
Here you go. [https://www.universal-robots.com/download/mechanical-cb-series/ur3/robot-ur3-step-file-cb-series/](https://www.universal-robots.com/download/mechanical-cb-series/ur3/robot-ur3-step-file-cb-series/) [https://www.universal-robots.com/download/mechanical-cb-series/ur5/robot-ur5-step-file-cb-series/](https://www.universal-robots.com/download/mechanical-cb-series/ur5/robot-ur5-step-file-cb-series/) [https://www.universal-robots.com/download/mechanical-cb-series/ur10/robot-step-file-ur10-cb-series/](https://www.universal-robots.com/download/mechanical-cb-series/ur10/robot-step-file-ur10-cb-series/) You can find all of these in the download section of the support website: [UR Download | Support Site | Universal Robots](https://www.universal-robots.com/download/) ---
**Author:** ![anon39663504](https://avatars.discourse-cdn.com/v4/letter/a/ebca7d/32.png) [@anon39663504](https://forum.universal-robots.com/u/anon39663504)\ **Post date:** [January 20, 2022, 9:45am UTC](https://forum.universal-robots.com/t/solid-ur5-cad-models/15838/5 "2022-01-20T09:45:52Z")
Great! thanks for sharing. ---
**Author:** ![nacsa](https://avatars.discourse-cdn.com/v4/letter/n/b2d939/32.png) [@nacsa](https://forum.universal-robots.com/u/nacsa)\ **Post date:** [February 21, 2022, 3:41pm UTC](https://forum.universal-robots.com/t/solid-ur5-cad-models/15838/6 "2022-02-21T15:41:58Z")
Are there available models of the teach pendants of the traditional and the e URs?