228 lines
8.3 KiB
XML
228 lines
8.3 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_iS20_T0">
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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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<link name="base_link">
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<inertial>
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<origin xyz="0.000229 0.001159 0.034428" rpy="0 0 0" />
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<mass value="5.346475" />
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<inertia ixx="0.032233" ixy="0.000005" ixz="-0.000002" iyy="0.031749" iyz="-0.000139" izz="0.054685" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/visual/link0.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link name="shoulder_Link">
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<inertial>
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<origin xyz="-0.000063 0.005306 -0.037423" rpy="0 0 0" />
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<mass value="19.848224" />
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<inertia ixx="0.141701" ixy="-0.000011" ixz="0.000006" iyy="0.139553" iyz="-0.004204" izz="0.107794" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/visual/link1.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="shoulder_joint" type="revolute">
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<origin xyz="0 0 0.2105" rpy="0 0 3.1415926535897932384626433832795" />
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<parent link="base_link" />
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<child link="shoulder_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="819" start_stop="1147" velocity="1.62" />
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<property inertia="12.04" damping="0" stiffness="0" offset="0" motor_constant="16.66" ratio="161"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.378001 0.000024 0.010901" rpy="0 0 0" />
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<mass value="37.394728" />
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<inertia ixx="0.218624" ixy="0.000512" ixz="-0.133027" iyy="7.976145" iyz="0.000026" izz="7.933088" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/visual/link2.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="upperArm_joint" type="revolute">
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<origin xyz="0 0.210 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent link="shoulder_Link" />
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<child link="upperArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="819" start_stop="1147" velocity="1.62" />
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<property inertia="9.4874" damping="0" stiffness="0" offset="0" motor_constant="16.66" ratio="161"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.549722 -0.000012 0.115060" rpy="0 0 0" />
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<mass value="7.099652" />
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<inertia ixx="0.014375" ixy="0.000022" ixz="0.002433" iyy="0.724970" iyz="0.000003" izz="0.723308" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/visual/link3.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="foreArm_joint" type="revolute">
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<origin xyz="1.050 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
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<parent link="upperArm_Link" />
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<child link="foreArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="281" start_stop="411" velocity="3.1104" />
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<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.837" ratio="101"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="0.000016 0.015716 -0.001852" rpy="0 0 0" />
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<mass value="3.257300" />
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<inertia ixx="0.005717" ixy="0.000004" ixz="0.000001" iyy="0.003863" iyz="-0.000131" izz="0.005636" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/visual/link4.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist1_joint" type="revolute">
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<origin xyz="0.826 0 0" rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" />
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<parent link="foreArm_Link" />
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<child link="wrist1_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="64" start_stop="102" velocity="4.1469" />
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<property inertia="1.1" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="101"/>
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-0.000016 -0.015716 -0.001852" rpy="0 0 0" />
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<mass value="3.257300" />
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<inertia ixx="0.005717" ixy="0.000004" ixz="-0.000001" iyy="0.003863" iyz="0.000131" izz="0.005636" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/visual/link5.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist2_joint" type="revolute">
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<origin xyz="0 0.127 0" rpy="-1.5707963267948966192313216916398 0 0" />
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<parent link="wrist1_Link" />
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<child link="wrist2_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="64" start_stop="102" velocity="4.1469" />
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<property inertia="1.1" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="101"/>
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="-0.000680 0.000500 -0.019150" rpy="0 0 0" />
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<mass value="0.379000" />
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<inertia ixx="0.000290" ixy="-0.000000" ixz="-0.000000" iyy="0.000300" iyz="-0.000000" izz="0.000510" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/visual/link6.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_iS20_T0/collision/link6.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist3_joint" type="revolute">
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<origin xyz="0 -0.1093 0" rpy="1.5707963267948966192313216916398 0 1.7907E-15" />
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<parent link="wrist2_Link" />
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<child link="wrist3_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="64" start_stop="102" velocity="4.1469" />
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<property inertia="1.1" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="101"/>
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</joint>
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<link name="world" />
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<joint name="world_joint" type="fixed">
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<parent link="world" />
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<child link = "base_link" />
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</joint>
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</robot>
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