228 lines
8.6 KiB
Plaintext
228 lines
8.6 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot name="aubo_i20_BZL">
|
||
|
|
<dh_type type="modified"/>
|
||
|
|
<safety_para singularity_consistent="0.02 0.01 10 0.2 0.045 10"/>
|
||
|
|
<link name="base_link">
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="-0.00019041 0.01436843 0.03493099" rpy="0 0 0" />
|
||
|
|
<mass value="3.48984964" />
|
||
|
|
<inertia ixx="0.0168" ixy="0.0000" ixz="0.0000" iyy="0.0135" iyz="0.0003" izz="0.0255" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/visual/link0.DAE" />
|
||
|
|
</geometry>
|
||
|
|
<material name="">
|
||
|
|
<color rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/collision/link0.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="shoulder_Link">
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="-0.00002839 0.00362627 -0.02877145" rpy="0 0 0" />
|
||
|
|
<mass value="15.98762671" />
|
||
|
|
<inertia ixx="0.08130765" ixy="-0.00000624" ixz="0.00005596" iyy="0.08097661" iyz="-0.00225751" izz="0.06761993" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/visual/link1.DAE" />
|
||
|
|
</geometry>
|
||
|
|
<material name="">
|
||
|
|
<color rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/collision/link1.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="shoulder_joint" type="revolute">
|
||
|
|
<origin xyz="0 0 0.1855" rpy="0 0 3.1415926535897932384626433832795" />
|
||
|
|
<parent link="base_link" />
|
||
|
|
<child link="shoulder_Link" />
|
||
|
|
<axis xyz="0 0 1" />
|
||
|
|
<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="557" start_stop="800" velocity="1.6232" />
|
||
|
|
<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="17.45" ratio="161"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="upperArm_Link">
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="0.31804315 0.00001805 0.01944443" rpy="0 0 0" />
|
||
|
|
<mass value="33.27826813" />
|
||
|
|
<inertia ixx="0.16711368" ixy="0.00016549" ixz="-0.0453317" iyy="4.48182178" iyz="-0.00006788" izz="4.44624279" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/visual/link2.DAE" />
|
||
|
|
</geometry>
|
||
|
|
<material name="">
|
||
|
|
<color rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/collision/link2.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="upperArm_joint" type="revolute">
|
||
|
|
<origin xyz="0 0.047 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
|
||
|
|
<parent link="shoulder_Link" />
|
||
|
|
<child link="upperArm_Link" />
|
||
|
|
<axis xyz="0 0 1" />
|
||
|
|
<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="557" start_stop="800" velocity="1.6232" />
|
||
|
|
<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="17.45" ratio="161"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="foreArm_Link">
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="0.321515 -0.000178 0.099496" rpy="0 0 0" />
|
||
|
|
<mass value="6.258638" />
|
||
|
|
<inertia ixx="0.033885" ixy="-0.000328" ixz="-0.055804" iyy="0.484926" iyz="-0.000031" izz="0.466455" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/visual/link3.DAE" />
|
||
|
|
</geometry>
|
||
|
|
<material name="">
|
||
|
|
<color rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/collision/link3.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="foreArm_joint" type="revolute">
|
||
|
|
<origin xyz="0.803 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
|
||
|
|
<parent link="upperArm_Link" />
|
||
|
|
<child link="foreArm_Link" />
|
||
|
|
<axis xyz="0 0 1" />
|
||
|
|
<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="267" start_stop="411" velocity="3.1067" />
|
||
|
|
<property inertia="1.1" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="wrist1_Link">
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="0.00001566 0.01571584 -0.0018517" rpy="0 0 0" />
|
||
|
|
<mass value="3.25729991" />
|
||
|
|
<inertia ixx="0.00571688" ixy="0.00000367" ixz="0.00000117" iyy="0.00386274" iyz="-0.00013128" izz="0.00563615" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/visual/link4.DAE" />
|
||
|
|
</geometry>
|
||
|
|
<material name="">
|
||
|
|
<color rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/collision/link4.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="wrist1_joint" type="revolute">
|
||
|
|
<origin xyz="0.61 0 0" rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" />
|
||
|
|
<parent link="foreArm_Link" />
|
||
|
|
<child link="wrist1_Link" />
|
||
|
|
<axis xyz="0 0 1" />
|
||
|
|
<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="61" start_stop="102" velocity="3.1067" />
|
||
|
|
<property inertia="1.1" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="101"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="wrist2_Link">
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="-0.00001566 -0.01571584 -0.0018517" rpy="0 0 0" />
|
||
|
|
<mass value="3.25729991" />
|
||
|
|
<inertia ixx="0.00571688" ixy="0.00000367" ixz="-0.00000117" iyy="0.00386274" iyz="0.00013127" izz="0.00563615" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/visual/link5.DAE" />
|
||
|
|
</geometry>
|
||
|
|
<material name="">
|
||
|
|
<color rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/collision/link5.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="wrist2_joint" type="revolute">
|
||
|
|
<origin xyz="0 0.127 0" rpy="-1.5707963267948966192313216916398 0 0" />
|
||
|
|
<parent link="wrist1_Link" />
|
||
|
|
<child link="wrist2_Link" />
|
||
|
|
<axis xyz="0 0 1" />
|
||
|
|
<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="61" start_stop="102" velocity="3.1067" />
|
||
|
|
<property inertia="1.1" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="101"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="wrist3_Link">
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="0.00046615 -0.00036717 -0.01849273" rpy="0 0 0" />
|
||
|
|
<mass value="0.3179042" />
|
||
|
|
<inertia ixx="0.00021443" ixy="-0.00000014" ixz="0.00000042" iyy="0.00021931" iyz="-0.00000113" izz="0.00037055" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/visual/link6.DAE" />
|
||
|
|
</geometry>
|
||
|
|
<material name="">
|
||
|
|
<color rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://aubo_description/meshes/aubo_i20_BZL/collision/link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="wrist3_joint" type="revolute">
|
||
|
|
<origin xyz="0 -0.1063 0" rpy="1.5707963267948966192313216916398 0 1.7907E-15" />
|
||
|
|
<parent link="wrist2_Link" />
|
||
|
|
<child link="wrist3_Link" />
|
||
|
|
<axis xyz="0 0 1" />
|
||
|
|
<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="61" start_stop="102" velocity="3.1067" />
|
||
|
|
<property inertia="1.1" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="101"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="world" />
|
||
|
|
|
||
|
|
<joint name="world_joint" type="fixed">
|
||
|
|
<parent link="world" />
|
||
|
|
<child link = "base_link" />
|
||
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||
|
|
</joint>
|
||
|
|
</robot>
|