418 lines
11 KiB
XML
418 lines
11 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="aubo_iS7_A0">
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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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<collision_detection_para cutoff_frequency = "50.0 50.0 30.0 20.0"/>
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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="0.000380 0.004710 0.019130"
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rpy="0 0 0" />
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<mass
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value="2.022030" />
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<inertia
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ixx="0.00676"
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ixy="-0.00004"
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ixz="-0.00001"
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iyy="0.00628"
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iyz="-0.00007"
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izz="0.01215" />
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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_iS7_A0/visual/link0.3ds" />
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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="0.25098 0.25098 0.25098 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_iS7_A0/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="0.000000 0.010280 -0.024390"
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rpy="0 0 0" />
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<mass
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value="10.256280" />
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<inertia
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ixx="0.04731"
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ixy="0.00000"
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ixz="0.00000"
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iyy="0.04186"
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iyz="-0.00253"
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izz="0.03500" />
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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_iS7_A0/visual/link1.3ds" />
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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="0.79216 0.81961 0.93333 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_iS7_A0/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 0.3952"
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rpy="0 0 3.14159265358979" />
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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="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="267"
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start_stop="433"
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velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
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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="0.204000 0.000000 -0.019000"
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rpy="0 0 0" />
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<mass
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value="9.791100" />
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<inertia
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ixx="0.02410"
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ixy="0.00000"
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ixz="-0.03446"
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iyy="0.38927"
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iyz="0.00000"
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izz="0.38153" />
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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_iS7_A0/visual/link2.3ds" />
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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="0.89804 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
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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_iS7_A0/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 0.2025 0"
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rpy="-1.570796326781404 -1.570796326781404 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="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="133"
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start_stop="204"
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velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
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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="0.276455 -0.000015 0.091628"
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rpy="0 0 0" />
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<mass
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value="2.503678" />
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<inertia
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ixx="0.00296"
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ixy="0.00000"
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ixz="0.00042"
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iyy="0.05259"
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iyz="0.00000"
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izz="0.05208" />
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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_iS7_A0/visual/link3.3ds" />
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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 0.72157 0.32941 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_iS7_A0/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="0.408 0 0"
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rpy="0 0 0" />
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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="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="133"
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start_stop="207"
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velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="60.0" equa_inertia="1.2" collision_detection_para = "50 50 30 20"/>
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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="0.000015 0.013974 -0.001734"
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rpy="0 0 0" />
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<mass
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value="1.495052" />
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<inertia
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ixx="0.00163"
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ixy="0.00000"
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ixz="0.00000"
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iyy="0.00101"
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iyz="-0.00004"
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izz="0.00160 " />
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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_iS7_A0/visual/link4.3ds" />
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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 0.72157 0.32941 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_iS7_A0/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="0.376 0 0"
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rpy="3.14159265358979 0 1.570796326781404" />
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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="34"
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velocity="3.1105" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
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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="-0.000015 -0.013974 -0.001734"
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rpy="0 0 0" />
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<mass
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value="1.495052" />
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<inertia
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ixx="0.00163"
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ixy="0.00000"
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ixz="0.00000"
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iyy="0.00102"
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iyz="0.00000"
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izz="0.00193 " />
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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_iS7_A0/visual/link5.3ds" />
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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 0.72157 0.32941 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_iS7_A0/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 0.1025 0"
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rpy="-1.570796326781404 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="34"
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velocity="3.1105" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
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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="-0.000462 0.001234 -0.017120"
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rpy="0 0 0" />
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<mass
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value="0.247173" />
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<inertia
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ixx="0.00013"
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ixy="0.00000"
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ixz="0.00000"
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iyy="0.00013"
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iyz="0.00000"
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izz="0.00021" />
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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_iS7_A0/visual/link6.3ds" />
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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="0.89804 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
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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_iS7_A0/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 -0.094 0"
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rpy="1.570796326781404 0.0 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="34"
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velocity="3.1105" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="10.0" equa_inertia="0.01" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link name="world" />
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<joint name="base_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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