136 lines
3.7 KiB
XML
136 lines
3.7 KiB
XML
<?xml version="1.0"?>
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<robot name="five_axis_robot" xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- Определение ссылок -->
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<link name="base_link">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
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</inertial>
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<visual>
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<geometry>
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<box size="0.5 0.5 0.1" />
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</geometry>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1.0" />
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</material>
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</visual>
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</link>
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<link name="link1">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder radius="0.05" length="0.3" />
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</geometry>
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<material name="blue">
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<color rgba="0.0 0.0 1.0 1.0" />
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</material>
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</visual>
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</link>
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<link name="link2">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder radius="0.05" length="0.3" />
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</geometry>
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<material name="green">
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<color rgba="0.0 1.0 0.0 1.0" />
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</material>
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</visual>
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</link>
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<link name="link3">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder radius="0.05" length="0.3" />
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</geometry>
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<material name="red">
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<color rgba="1.0 0.0 0.0 1.0" />
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</material>
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</visual>
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</link>
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<link name="link4">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder radius="0.05" length="0.3" />
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</geometry>
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<material name="yellow">
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<color rgba="1.0 1.0 0.0 1.0" />
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</material>
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</visual>
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</link>
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<link name="end_effector">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
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</inertial>
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<visual>
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<geometry>
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<box size="0.1 0.1 0.1" />
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</geometry>
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0" />
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</material>
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</visual>
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</link>
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<!-- Определение суставов -->
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<joint name="joint1" type="revolute">
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<parent link="base_link" />
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<child link="link1" />
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<origin xyz="0 0 0.15" rpy="0 0 0" />
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<axis xyz="0 0 1" />
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<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
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</joint>
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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 0.3" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
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</joint>
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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 0.3" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
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</joint>
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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 0.3" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
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</joint>
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<joint name="end_effector_joint" type="revolute">
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<parent link="link4" />
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<child link="end_effector" />
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<origin xyz="0 0 0.3" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
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</joint>
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</robot> |