242 lines
8.3 KiB
XML
242 lines
8.3 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_i16_30">
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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="-0.0002 0.0045 0.0193" rpy="0 0 0" />
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<mass value="1.0247" />
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<inertia ixx="0.0035" ixy="0.0000" ixz="0.0000" iyy="0.003" iyz="0.0001" izz="0.0061" />
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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_i16_30/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_i16_30/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="0.0000 0.0042 -0.0278" rpy="0 0 0" />
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<mass value="11.1649" />
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<inertia ixx="0.0511" ixy="0.0000" ixz="0.0000" iyy="0.0498" iyz="0.0002" izz="0.0311" />
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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
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filename="package://aubo_description/meshes/aubo_i16_30/visual/link1.3ds" />
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</geometry>
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<material name="">
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<color 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 xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i16_30/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 0.163" rpy="-8.7138E-17 -4.3534E-32 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="267" start_stop="411" velocity="3.1416" />
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<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.1664 0.0000 -0.0142" rpy="0 0 0" />
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<mass value="18.7946" />
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<inertia ixx="0.0657" ixy="0.0000" ixz="-0.0149" iyy="1.4279" iyz="0.0000" izz="1.4077" />
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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_i16_30/visual/link2.3ds" />
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</geometry>
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<material name="">
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<color 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 xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i16_30/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 0.191 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="267" start_stop="411" velocity="3.1416" />
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<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.282 0.0000 0.1059" rpy="0 0 0" />
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<mass value="3.9474" />
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<inertia ixx="0.05" ixy="0.0000" ixz="0.1161" iyy="0.4363" iyz="0.0000" izz="0.3908" />
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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_i16_30/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_i16_30/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="0.480 0 0" rpy="-3.1415926535897932384626433832795 -4.5954E-17 -8.4328E-17" />
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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="133" start_stop="207" velocity="4.6600" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" 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="0.0000 0.0155 -0.0013" rpy="0 0 0" />
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<mass value="2.5692" />
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<inertia ixx="0.0042" ixy="0.0000" ixz="0.0000" iyy="0.0022" iyz="0.0000" izz="0.0041" />
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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_i16_30/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_i16_30/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="0.370 0 0" rpy="3.1415926535897932384626433832795 -1.4294E-15 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="49" start_stop="66" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.81" 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="0.0000 -0.0155 -0.0013" rpy="0 0 0" />
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<mass value="2.5692" />
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<inertia ixx="0.0042" ixy="0.0000" ixz="0.0000" iyy="0.0022" iyz="0.0000" izz="0.0041" />
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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_i16_30/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_i16_30/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 0.1175 0" rpy="-1.5707963267948966192313216916398 -7.0777E-16 -7.4101E-16" />
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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="49" start_stop="66" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.814" 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="0.0000 -0.0004 -0.017" rpy="0 0 0" />
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<mass value="0.203" />
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<inertia ixx="0.0042" ixy="0.0000" ixz="0.0000" iyy="0.0002" iyz="0.0000" izz="0.0002" />
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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_i16_30/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_i16_30/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 -0.1035 0" rpy="1.5707963267948966192313216916398 0 6.7283E-16" />
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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="49" start_stop="66" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.814" 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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