418 lines
11 KiB
Plaintext
418 lines
11 KiB
Plaintext
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="aubo_iS7_CM02">
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<dh_type type="modified"/>
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<safety_para singularity_consistent="0.02 0.01 10 0.2 0.045 10"/>
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<collision_detection_para cutoff_frequency = "50.0 50.0 30.0 20.0"/>
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="0.00038 0.00471 0.01913"
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rpy="0 0 0" />
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<mass
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value="2.02203" />
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<inertia
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ixx="0.00676"
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ixy="-0.00004"
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ixz="-0.00001"
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iyy="0.00628"
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iyz="-0.00007"
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izz="0.01215" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/visual/link0.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.25098 0.25098 0.25098 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="shoulder_Link">
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<inertial>
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<origin
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xyz="0.00000 0.01028 -0.02439"
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rpy="0 0 0" />
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ixx="0.04731"
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iyy="0.04186"
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iyz="-0.00253"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/visual/link1.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="shoulder_joint"
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type="revolute">
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<origin
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xyz="0 0 0.3952"
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rpy="0 0 3.14159265358979" />
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<parent
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link="base_link" />
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<child
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link="shoulder_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="267"
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start_stop="433"
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velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link
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name="upperArm_Link">
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<inertial>
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<origin
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xyz="0.20400 0.00000 -0.01900"
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rpy="0 0 0" />
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<mass
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value="9.79110" />
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<inertia
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ixx="0.02410"
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ixy="0.00000"
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ixz="-0.03446"
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iyy="0.38927"
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iyz="0.00000"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/visual/link2.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.89804 0.91765 0.92941 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="upperArm_joint"
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type="revolute">
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<origin
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xyz="0 0.2025 0"
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rpy="-1.570796326781404 -1.570796326781404 0" />
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<parent
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link="shoulder_Link" />
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<child
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link="upperArm_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="133"
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start_stop="204"
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velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link
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name="foreArm_Link">
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<inertial>
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<origin
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xyz="0.27656 -0.00002 0.09120"
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rpy="0 0 0" />
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<mass
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value="2.50655" />
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<inertia
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ixx="0.00296"
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ixy="0.00000"
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ixz="0.00042"
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iyy="0.05259"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/visual/link3.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 0.72157 0.32941 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="foreArm_joint"
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type="revolute">
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<origin
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xyz="0.408 0 0"
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rpy="3.14159265358979 0 0" />
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<parent
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link="upperArm_Link" />
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<child
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link="foreArm_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="133"
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start_stop="207"
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velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="60.0" equa_inertia="1.2" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link
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name="wrist1_Link">
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<inertial>
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<origin
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xyz="0.00002 0.01469 -0.00169"
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rpy="0 0 0" />
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value="1.49768" />
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<inertia
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ixx="0.00163"
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iyy="0.00101"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/visual/link4.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 0.72157 0.32941 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="wrist1_joint"
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type="revolute">
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<origin
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xyz="0.376 0 0"
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rpy="3.14159265358979 0 1.570796326781404" />
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<parent
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link="foreArm_Link" />
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link="wrist1_Link" />
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xyz="0 0 1" />
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<limit
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lower="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="13.5"
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start_stop="34"
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velocity="3.1105" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link
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name="wrist2_Link">
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<inertial>
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<origin
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xyz="-0.00002 -0.01469 -0.00169"
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rpy="0 0 0" />
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<mass
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value="1.49768" />
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<inertia
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ixx="0.00163"
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ixy="0.00000"
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ixz="0.00000"
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iyy="0.00102"
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iyz="0.00000"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/visual/link5.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 0.72157 0.32941 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/collision/link5.STL"/>
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</geometry>
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</collision>
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</link>
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<joint
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name="wrist2_joint"
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type="revolute">
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<origin
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xyz="0 0.1025 0"
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rpy="-1.570796326781404 0 0" />
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<parent
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link="wrist1_Link" />
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<child
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link="wrist2_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="13.5"
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start_stop="34"
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velocity="3.1105" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link
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name="wrist3_Link">
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<inertial>
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<origin
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xyz="-0.00084 0.00036 -0.01715"
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rpy="0 0 0" />
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<mass
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value="0.23837 " />
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<inertia
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ixx="0.00013"
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ixy="0.00000"
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ixz="0.00000"
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iyy="0.00013"
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iyz="0.00000"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_iS7_CM02/visual/link6.DAE" />
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</geometry>
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<material
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name="">
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|
|
<color
|
||
|
|
rgba="0.89804 0.91765 0.92941 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="package://aubo_description/meshes/aubo_iS7_CM02/collision/link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="wrist3_joint"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.094 0"
|
||
|
|
rpy="1.570796326781404 0.0 0.0" />
|
||
|
|
<parent
|
||
|
|
link="wrist2_Link" />
|
||
|
|
<child
|
||
|
|
link="wrist3_Link" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 1" />
|
||
|
|
<limit
|
||
|
|
lower="-6.283185307179586476925286766559"
|
||
|
|
upper="6.283185307179586476925286766559"
|
||
|
|
effort="13.5"
|
||
|
|
start_stop="34"
|
||
|
|
velocity="3.1105" />
|
||
|
|
<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="10.0" equa_inertia="0.01" collision_detection_para = "50 50 30 20"/>
|
||
|
|
</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>
|