Kinematics and dynamics parameters of PUMA 200

Hi there,
Does anybody know which paper has the parameters of kinematics and dynamics of PUMA 200? EX: Center of gravity, Inertia tensors, gear ratios, link masses, etc.
Add pictures here
<% if( /^image/.test(type) ){ %>
<% } %>
Add image file
Upload is a website by engineers for engineers. It is not affiliated with any of manufacturers or vendors discussed here. All logos and trade names are the property of their respective owners.