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机械臂仿真构建完成

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Quella
2026-02-24 22:09:19 +08:00
parent 893a5ae069
commit 9d8fc2ba53
460 changed files with 19966 additions and 522 deletions
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simulation_ws/robotic_arm/urdf/robotic_arm.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot name="robotic_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find robotic_arm)/urdf/materials.xacro" />
<!-- 底座连杆 -->
<link name="base_link">
<visual>
<geometry>
<cylinder radius="0.1" length="0.05" />
</geometry>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
<material name="grey" />
</visual>
<collision>
<geometry>
<cylinder radius="0.1" length="0.05" />
</geometry>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="1.0" />
<origin xyz="0.0 0.0 0.025" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<!-- 关节1:底座旋转 -->
<joint name="joint1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="link1" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-3.14159" upper="3.14159" effort="100.0" velocity="1.0" />
<!-- 阻尼系数和摩擦系数,模拟运动阻力和摩擦力 -->
<dynamics damping="0.1" friction="0.1" />
</joint>
<!-- 连杆1 -->
<link name="link1">
<visual>
<geometry>
<box size="0.08 0.08 0.15" />
</geometry>
<origin xyz="0.0 0.0 0.075" rpy="0.0 0.0 0.0" />
<material name="blue" />
</visual>
<collision>
<geometry>
<box size="0.08 0.08 0.15" />
</geometry>
<origin xyz="0.0 0.0 0.075" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="0.8" />
<origin xyz="0 0 0.075" />
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.003" />
</inertial>
</link>
<!-- 关节2:肩部俯仰 -->
<joint name="joint2" type="revolute">
<parent link="link1" />
<child link="link2" />
<origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-1.5708" upper="1.5708" effort="100.0" velocity="1.0" />
<!-- 阻尼系数和摩擦系数,模拟运动阻力和摩擦力 -->
<dynamics damping="0.1" friction="0.1" />
</joint>
<!-- 连杆2 -->
<link name="link2">
<visual>
<geometry>
<box size="0.06 0.06 0.20" />
</geometry>
<origin xyz="0.0 0.0 0.10" rpy="0.0 0.0 0.0" />
<material name="orange" />
</visual>
<collision>
<geometry>
<box size="0.06 0.06 0.20" />
</geometry>
<origin xyz="0.0 0.0 0.10" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="0.6" />
<origin xyz="0 0 0.10" />
<inertia ixx="0.003" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.002" />
</inertial>
</link>
<!-- 关节3: 肘部俯仰 -->
<joint name="joint3" type="revolute">
<parent link="link2" />
<child link="link3" />
<origin xyz="0 0 0.20" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit lower="-1.5708" upper="1.5708" effort="80" velocity="1.0" />
<dynamics damping="0.1" friction="0.1" />
</joint>
<!-- 连杆3 -->
<link name="link3">
<visual>
<geometry>
<box size="0.055 0.055 0.18" />
</geometry>
<origin xyz="0 0 0.09" rpy="0 0 0" />
<material name="blue" />
</visual>
<collision>
<geometry>
<box size="0.055 0.055 0.18" />
</geometry>
<origin xyz="0 0 0.09" rpy="0 0 0" />
</collision>
<inertial>
<mass value="0.5" />
<origin xyz="0 0 0.09" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001" />
</inertial>
</link>
<!-- 关节4: 腕部滚转 -->
<joint name="joint4" type="revolute">
<parent link="link3" />
<child link="link4" />
<origin xyz="0 0 0.18" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit lower="-3.14159" upper="3.14159" effort="50" velocity="1.5" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<!-- 连杆4 -->
<link name="link4">
<visual>
<geometry>
<box size="0.05 0.05 0.14" />
</geometry>
<origin xyz="0 0 0.07" rpy="0 0 0" />
<material name="orange" />
</visual>
<collision>
<geometry>
<box size="0.05 0.05 0.14" />
</geometry>
<origin xyz="0 0 0.07" rpy="0 0 0" />
</collision>
<inertial>
<mass value="0.3" />
<origin xyz="0 0 0.07" />
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
</link>
<!-- 关节5: 腕部俯仰 -->
<joint name="joint5" type="revolute">
<parent link="link4" />
<child link="link5" />
<origin xyz="0 0 0.14" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit lower="-1.5708" upper="1.5708" effort="30" velocity="1.5" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<!-- 连杆5 -->
<link name="link5">
<visual>
<geometry>
<box size="0.045 0.045 0.10" />
</geometry>
<origin xyz="0 0 0.05" rpy="0 0 0" />
<material name="blue" />
</visual>
<collision>
<geometry>
<box size="0.045 0.045 0.10" />
</geometry>
<origin xyz="0 0 0.05" rpy="0 0 0" />
</collision>
<inertial>
<mass value="0.2" />
<origin xyz="0 0 0.05" />
<inertia ixx="0.0005" ixy="0" ixz="0" iyy="0.0005" iyz="0" izz="0.0003" />
</inertial>
</link>
<!-- 关节6: 腕部偏航 -->
<joint name="joint6" type="revolute">
<parent link="link5" />
<child link="link6" />
<origin xyz="0 0 0.10" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit lower="-3.14159" upper="3.14159" effort="20" velocity="2.0" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<!-- 连杆6 (末端执行器) -->
<link name="link6">
<visual>
<geometry>
<cylinder radius="0.03" length="0.06" />
</geometry>
<origin xyz="0 0 0.03" rpy="0 0 0" />
<material name="grey" />
</visual>
<collision>
<geometry>
<cylinder radius="0.03" length="0.06" />
</geometry>
<origin xyz="0 0 0.03" rpy="0 0 0" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0.03" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>
<!-- 末端执行器固定关节 -->
<joint name="end_effector_fixed" type="fixed">
<parent link="link6" />
<child link="end_effector" />
<origin xyz="0 0 0.06" rpy="0 0 0" />
</joint>
<link name="end_effector" />
<!-- gazebo 插件 -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/six_axis_arm</robotNamespace>
</plugin>
</gazebo>
<!-- Gazebo 颜色设置 -->
<gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="link1">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link2">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="link3">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link4">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="link5">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link6">
<material>Gazebo/Grey</material>
</gazebo>
<!-- 传动装置 -->
<transmission name="trans1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>