228 lines
8.6 KiB
XML
228 lines
8.6 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_i20L_1900">
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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 0.0144 0.0349" rpy="0 0 0" />
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<mass value="3.4898" />
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<inertia ixx="0.0168" ixy="0.0000" ixz="0.0000" iyy="0.0135" iyz="0.0003" izz="0.0255" />
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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_i20L_1900/visual/link0.DAE" />
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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_i20L_1900/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="-0.00002839 0.00362627 -0.02877145" rpy="0 0 0" />
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<mass value="15.98762671" />
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<inertia ixx="0.08130765" ixy="-0.00000624" ixz="0.00005596" iyy="0.08097661" iyz="-0.00225751" izz="0.06761993" />
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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_i20L_1900/visual/link1.DAE" />
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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_i20L_1900/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 0.1855" 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="557" start_stop="800" velocity="2.5962" />
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<property inertia="9.5" damping="0" stiffness="0" offset="0" motor_constant="18.7" 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="0.39050427 0.00001695 0.03023743" rpy="0 0 0" />
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<mass value="35.43624922" />
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<inertia ixx="0.17832661" ixy="0.0002088" ixz="-0.06050506" iyy="6.50664126" iyz="-0.00006999" izz="6.46959412" />
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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_i20L_1900/visual/link2.DAE" />
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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_i20L_1900/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 0.1675 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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="557" start_stop="800" velocity="2.5962" />
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<property inertia="9.5" damping="0" stiffness="0" offset="0" motor_constant="18.70" 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="0.51257096 -0.00001864 0.1077902" rpy="0 0 0" />
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<mass value="6.38158507" />
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<inertia ixx="0.01264426" ixy="0.00004339" ixz="-0.00165711" iyy="0.66780388" iyz="0.00000571" izz="0.66650941" />
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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_i20L_1900/visual/link3.DAE" />
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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_i20L_1900/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="0.953 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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="267" start_stop="411" velocity="2.5962" />
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<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="10.1" 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="0.00003637 0.01562881 -0.0015103" rpy="0 0 0" />
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<mass value="2.36997314" />
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<inertia ixx="0.00366744" ixy="0.00000645" ixz="-0.00000084" iyy="0.00218785" iyz="-0.00007755" izz="0.00361804" />
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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_i20L_1900/visual/link4.DAE" />
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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_i20L_1900/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="0.8295 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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="49" start_stop="66" velocity="3.1102" />
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<property inertia="0.39" damping="0" stiffness="0" offset="0" motor_constant="7.64" 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="-0.00003637 -0.01562881 -0.0015103" rpy="0 0 0" />
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<mass value="2.36997314" />
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<inertia ixx="0.00366744" ixy="0.00000645" ixz="0.00000084" iyy="0.00218785" iyz="0.00007755" izz="0.00361804" />
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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_i20L_1900/visual/link5.DAE" />
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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_i20L_1900/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 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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="49" start_stop="66" velocity="3.1102" />
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<property inertia="0.39" damping="0" stiffness="0" offset="0" motor_constant="7.64" 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="-0.00000145 0.00009268 -0.01872119" rpy="0 0 0" />
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<mass value="0.40421189" />
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<inertia ixx="0.00021838" ixy="0" ixz="0" iyy="0.00021132" iyz="0" izz="0.00036613" />
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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_i20L_1900/visual/link6.DAE" />
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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_i20L_1900/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 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="49" start_stop="66" velocity="3.1102" />
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<property inertia="0.39" damping="0" stiffness="0" offset="0" motor_constant="7.64" 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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