242 lines
8.3 KiB
XML
242 lines
8.3 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="aubo_i16H">
|
|
<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="0.000136 0.001601 0.018986" rpy="0 0 0" />
|
|
<mass value="2.592000" />
|
|
<inertia ixx="0.008524" ixy="-0.000001" ixz="-0.000005" iyy="0.007934" iyz="-0.000081" izz="0.015304" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_i16H/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_i16H/collision/link0.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
|
|
<link name="shoulder_Link">
|
|
<inertial>
|
|
<origin xyz="-0.000004 0.005112 -0.026275" rpy="0 0 0" />
|
|
<mass value="10.180139" />
|
|
<inertia ixx="0.043326" ixy="0.000003" ixz="0.000003" iyy="0.042233" iyz="-0.001767" izz="0.029902" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://aubo_description/meshes/aubo_i16H/visual/link1.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<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_i16H/collision/link1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
|
|
<joint name="shoulder_joint" type="revolute">
|
|
<origin xyz="0 0 0.163" rpy="-8.7138E-17 -4.3534E-32 3.1415926535897932384626433832795" />
|
|
<parent link="base_link" />
|
|
<child link="shoulder_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586" upper="6.283185307179586" effort="267" start_stop="411" velocity="3.106686068549906" />
|
|
<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
|
|
</joint>
|
|
|
|
|
|
<link name="upperArm_Link">
|
|
<inertial>
|
|
<origin xyz="0.170602 0.000000 -0.013024" rpy="0 0 0" />
|
|
<mass value="17.664060" />
|
|
<inertia ixx="0.063521" ixy="0.000020" ixz="-0.024888" iyy="0.847528" iyz="0.000005" izz="0.828847" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_i16H/visual/link2.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<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_i16H/collision/link2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
|
|
<joint name="upperArm_joint" type="revolute">
|
|
<origin xyz="0 0.191 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
|
|
<parent link="shoulder_Link" />
|
|
<child link="upperArm_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586" upper="6.283185307179586" effort="267" start_stop="411" velocity="3.106686068549906" />
|
|
<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
|
|
</joint>
|
|
|
|
|
|
<link name="foreArm_Link">
|
|
<inertial>
|
|
<origin xyz="0.269208 -0.000022 0.106467" rpy="0 0 0" />
|
|
<mass value="3.926354" />
|
|
<inertia ixx="0.006007" ixy="0.000009" ixz="0.001991" iyy="0.083780" iyz="0.000005" izz="0.082433" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_i16H/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_i16H/collision/link3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
|
|
<joint name="foreArm_joint" type="revolute">
|
|
<origin xyz="0.480 0 0" rpy="-3.1415926535897932384626433832795 -4.5954E-17 -8.4328E-17" />
|
|
<parent link="upperArm_Link" />
|
|
<child link="foreArm_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586" upper="6.283185307179586" effort="133" start_stop="207" velocity="4.660029102824860" />
|
|
<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="101"/>
|
|
</joint>
|
|
|
|
|
|
<link name="wrist1_Link">
|
|
<inertial>
|
|
<origin xyz="0.000036 0.015610 -0.001526" rpy="0 0 0" />
|
|
<mass value="2.370741" />
|
|
<inertia ixx="0.003672" ixy="0.000006" ixz="-0.000001" iyy="0.002190" iyz="-0.000080" izz="0.003621" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_i16H/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_i16H/collision/link4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
|
|
<joint name="wrist1_joint" type="revolute">
|
|
<origin xyz="0.370 0 0" rpy="3.1415926535897932384626433832795 -1.4294E-15 1.5707963267948966192313216916398" />
|
|
<parent link="foreArm_Link" />
|
|
<child link="wrist1_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586" upper="6.283185307179586" effort="49" start_stop="66" velocity="4.136430327226561" />
|
|
<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.81" ratio="101"/>
|
|
</joint>
|
|
|
|
|
|
<link name="wrist2_Link">
|
|
<inertial>
|
|
<origin xyz="-0.000036 -0.015610 -0.001526" rpy="0 0 0" />
|
|
<mass value="2.370741" />
|
|
<inertia ixx="0.003672" ixy="0.000006" ixz="0.000001" iyy="0.002190" iyz="0.000080" izz="0.003621" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_i16H/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_i16H/collision/link5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
|
|
<joint name="wrist2_joint" type="revolute">
|
|
<origin xyz="0 0.1175 0" rpy="-1.5707963267948966192313216916398 -7.0777E-16 -7.4101E-16" />
|
|
<parent link="wrist1_Link" />
|
|
<child link="wrist2_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586" upper="6.283185307179586" effort="49" start_stop="66" velocity="4.136430327226561" />
|
|
<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.814" ratio="101"/>
|
|
</joint>
|
|
|
|
|
|
<link name="wrist3_Link">
|
|
<inertial>
|
|
<origin xyz="0.000508 0.000344 -0.017049" rpy="0 0 0" />
|
|
<mass value="0.259654" />
|
|
<inertia ixx="0.000162" ixy="-0.000000" ixz="-0.000000" iyy="0.000160" iyz="0.000001" izz="0.000273" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_i16H/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_i16H/collision/link6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
|
|
<joint name="wrist3_joint" type="revolute">
|
|
<origin xyz="0 -0.1035 0" rpy="1.5707963267948966192313216916398 0 6.7283E-16" />
|
|
<parent link="wrist2_Link" />
|
|
<child link="wrist3_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586" upper="6.283185307179586" effort="49" start_stop="66" velocity="4.136430327226561" />
|
|
<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.814" 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>
|