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