415 lines
10 KiB
XML
415 lines
10 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot
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name="aubo_LW2_1500">
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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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<friction_coeff value="0.65"/>
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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="0.04169701 0.03563508 0.0343111"
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rpy="0 0 0" />
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<mass
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value="2.0138283" />
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<inertia
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ixx="0.00567418"
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ixy="-0.00024673"
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ixz="0.00031487"
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iyy="0.00733388"
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iyz="0.0000142"
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izz="0.01041703" />
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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_LW2_1500/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="1 1 1 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_LW2_1500/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="-0.10407348 -0.01245662 -0.01240644"
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rpy="0 0 0" />
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<mass
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value="3.60778729" />
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<inertia
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ixx="0.00602455"
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ixy="-0.004663"
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ixz="0.00467221"
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iyy="0.03974642"
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iyz="0.00055972"
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izz="0.03974319" />
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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_LW2_1500/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="1 1 1 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_LW2_1500/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 0.153"
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rpy="0 0 1.5707963267948966192313216916398" />
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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="-2.35619445"
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upper="2.35619445"
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effort="49"
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start_stop="82"
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velocity="3.1415926535897932384626433832795" />
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<property inertia="0.3345928" damping="0" stiffness="0" offset="0" motor_constant="4.425" ratio="101"/>
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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="0.37576877 0.00008261 0.10571969"
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rpy="0 0 0" />
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<mass
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value="2.30370284" />
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<inertia
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ixx="0.0033275"
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ixy="-0.00002569"
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ixz="0.00268327"
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iyy="0.08935379"
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iyz="-0.00000039"
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izz="0.08834442" />
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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_LW2_1500/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="1 1 1 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_LW2_1500/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="-0.208 0 0"
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rpy="1.5707963267948966192313216916398 -1.5707963267948966192313216916398 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="-1.5707963267948966192313216916398"
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upper="1.5707963267948966192313216916398"
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effort="133"
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start_stop="82"
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velocity="3.1415926535897932384626433832795" />
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<property inertia="0.328" damping="0" stiffness="0" offset="0" motor_constant="4.425" ratio="100"/>
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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="0.00020018 -0.01981377 -0.00089785"
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rpy="0 0 0" />
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<mass
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value="0.96538834" />
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<inertia
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ixx="0.0010666"
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ixy="0.00000012"
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ixz="0.00000149"
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iyy="0.00060104"
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iyz="0.00001376"
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izz="0.00105486" />
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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_LW2_1500/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 1 1 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_LW2_1500/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="0.519 0 0.0176"
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rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
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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="-3.05432613888889"
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upper="3.05432613888889"
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effort="133"
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start_stop="54"
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velocity="4.188790133" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="100"/>
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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="-0.00009165 -0.01208311 -0.09719847"
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rpy="0 0 0" />
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<mass
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value="1.5749858" />
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<inertia
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ixx="0.03781885"
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ixy="-0.00000005"
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ixz="0.00001549"
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iyy="0.03720782"
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iyz="0.00185264"
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izz="0.00180602" />
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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_LW2_1500/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 1 1 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_LW2_1500/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 -0.522 0"
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rpy="1.5707963267948966192313216916398 0 0" />
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<parent
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link="foreArm_Link" />
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<child
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link="wrist1_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="17"
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velocity="4.188790133" />
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<property inertia="0.115" damping="0" stiffness="0" offset="0" motor_constant="4.59" ratio="100"/>
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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="0.00020041 0.01986553 -0.00079579"
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rpy="0 0 0" />
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<mass
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value="0.96390764" />
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<inertia
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ixx="0.00106276"
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ixy="-0.00000011"
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ixz="-0.00000182"
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iyy="0.00059782"
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iyz="-0.00001855"
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izz="0.00105316" />
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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_LW2_1500/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 1 1 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_LW2_1500/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 -0.09485 0"
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rpy="1.5707963267948966192313216916398 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="17"
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velocity="4.188790133" />
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<property inertia="0.067" damping="0" stiffness="0" offset="0" motor_constant="3.59" ratio="100"/>
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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="-0.00008288 -0.00018861 -0.01979206"
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rpy="0 0 0" />
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<mass
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value="0.20668692" />
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<inertia
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ixx="0.00012123"
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ixy="-0.00000004"
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ixz="0.00000024"
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iyy="0.00012136"
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iyz="0.00000054"
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izz="0.00016677" />
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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_LW2_1500/visual/link6.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="0.792156862745098 0.819607843137255 0.933333333333333 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_LW2_1500/collision/link6.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="wrist3_joint"
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type="revolute">
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<origin
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xyz="0 0.0967 0"
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rpy="-1.5707963267948966192313216916398 0 0" />
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<parent
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link="wrist2_Link" />
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<child
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link="wrist3_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="17"
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velocity="4.188790133" />
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<property inertia="0.067" damping="0" stiffness="0" offset="0" motor_constant="3.59" ratio="100"/>
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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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