diff --git a/onshape_api/urdf.py b/onshape_api/urdf.py
index d2861ef..0afbfa2 100644
--- a/onshape_api/urdf.py
+++ b/onshape_api/urdf.py
@@ -44,7 +44,7 @@
     VisualLink,
 )
 from onshape_api.parse import MATE_JOINER, PARENT, RELATION_PARENT
-from onshape_api.utilities.helpers import get_sanitized_name
+from onshape_api.utilities.helpers import get_sanitized_name, make_unique_keys
 
 SCRIPT_DIR = os.path.dirname(__file__)
 
@@ -486,7 +486,15 @@ def get_urdf_components(
         assets_map[child] = downloadable_link
         links.append(link)
 
-    links_map = {link.name: link for link in links}
-    joints_map = {joint.name: joint for joint in joints}
+    unique_joint_key_map = make_unique_keys([joint.name for joint in joints])
+    unique_link_key_map = make_unique_keys([link.name for link in links])
+
+    for joint_key in unique_joint_key_map:
+        joints[unique_joint_key_map[joint_key]].name = joint_key
+        joints_map[joint_key] = joints[unique_joint_key_map[joint_key]]
+
+    for link_key in unique_link_key_map:
+        links[unique_link_key_map[link_key]].name = link_key
+        links_map[link_key] = links[unique_link_key_map[link_key]]
 
     return links_map, joints_map, assets_map
diff --git a/onshape_api/utilities/helpers.py b/onshape_api/utilities/helpers.py
index a405c79..3a6bcea 100644
--- a/onshape_api/utilities/helpers.py
+++ b/onshape_api/utilities/helpers.py
@@ -204,6 +204,37 @@ def get_random_names(directory: str, count: int, filename: str = "words.txt") ->
     return random.sample(words, count)
 
 
+def make_unique_keys(keys: list[str]) -> dict[str, int]:
+    """
+    Make a list of keys unique by appending a number to duplicate keys and
+    return a mapping of unique keys to their original indices.
+
+    Args:
+        keys: List of keys.
+
+    Returns:
+        A dictionary mapping unique keys to their original indices.
+
+    Examples:
+        >>> make_unique_keys(["a", "b", "a", "a"])
+        {"a": 0, "b": 1, "a-1": 2, "a-2": 3}
+    """
+    unique_key_map = {}
+    key_count = {}
+
+    for index, key in enumerate(keys):
+        if key in key_count:
+            key_count[key] += 1
+            unique_key = f"{key}-{key_count[key]}"
+        else:
+            key_count[key] = 0
+            unique_key = key
+
+        unique_key_map[unique_key] = index
+
+    return unique_key_map
+
+
 def get_sanitized_name(name: str, replace_with: str = "-") -> str:
     """
     Sanitize a name by removing special characters, preserving "-" and "_", and