00001 % A 6R Serial chain The Staubli-RX60 robot.
00002
00005 [CONSTANTS]
00006
00007 % For puma-like manipulators only 3 of the DH parameters
00008 % are relevant.
00009 % Here we give those relevant parameters for the RX60 robot (in meters)
00010
00011 a2:=0.29
00012 d3:=0.049
00013 d4:=0.31
00014
00015 % Constants below are only relevant for decoration
00016
00017 %RX60 color (r,g,b)
00018 cr:=0.9
00019 cg:=0.6
00020 cb:=0.2
00021
00022 % For the frame around the robot workspace
00023 barRadius := 0.03
00024
00025 XLower:=-1+barRadius
00026 XUpper:=1-barRadius
00027 YLower:=XLower
00028 YUpper:=XUpper
00029 ZLower:=-0.341
00030 ZUpper :=1
00031
00032 [LINKS]
00033
00034 base: color (0,0,1)
00035 cylinder barRadius (XLower,YLower,ZLower) (XLower,XLower,ZUpper)
00036 sphere barRadius (XLower,YLower,ZUpper)
00037 cylinder barRadius (XLower,YUpper,ZLower) (XLower,YUpper,ZUpper)
00038 sphere barRadius (XLower,YUpper,ZUpper)
00039 cylinder barRadius (XUpper,YLower,ZLower) (XUpper,YLower,ZUpper)
00040 sphere barRadius (XUpper,YLower,ZUpper)
00041 cylinder barRadius (XUpper,YUpper,ZLower) (XUpper,YUpper,ZUpper)
00042 sphere barRadius (XUpper,YUpper,ZUpper)
00043 cylinder barRadius (XLower,YLower,ZUpper) (XLower,YUpper,ZUpper)
00044 cylinder barRadius (XLower,YLower,ZUpper) (XUpper,YLower,ZUpper)
00045 cylinder barRadius (XUpper,YUpper,ZUpper) (XLower,YUpper,ZUpper)
00046 cylinder barRadius (XUpper,YUpper,ZUpper) (XUpper,YLower,ZUpper)
00047
00048 body "bodies/b1.off" color (0.6,0.6,0.6)
00049
00050 body "bodies/plane.off" color (0.2,0.2,0.2)
00051 body "bodies/S0_rel.off" color (cr,cg,cb)
00052
00053 link1: color (cr,cg,cb)
00054 body "bodies/S1_rel.off"
00055 body "bodies/S2_rel.off"
00056
00057 link2: color (cr,cg,cb)
00058 body "bodies/S3_rel.off"
00059
00060 link3: color (cr,cg,cb)
00061 body "bodies/S4_rel.off"
00062
00063 link4: body "bodies/S5_rel.off" color (cr,cg,cb)
00064 body "bodies/S6_rel.off" color (0.75,0.75,0.75)
00065
00066 link5: color (0.75,0.75,0.75)
00067 body "bodies/S7_rel.off"
00068
00069 EndEfector: color (0.75,0.75,0.75)
00070 body "bodies/S8_rel.off"
00071
00072 hand: color (0.85,0.85,0.85)
00073 body "bodies/barrett/barrett01.off" color (0.9,0.8,0.1)
00074 body "bodies/barrett/barrett02.off"
00075 body "bodies/barrett/barrett03.off"
00076 body "bodies/barrett/barrett04.off"
00077 body "bodies/barrett/barrett05.off"
00078 body "bodies/barrett/barrett06.off"
00079 body "bodies/barrett/barrett07.off"
00080 body "bodies/barrett/barrett08.off"
00081 body "bodies/barrett/barrett09.off"
00082 body "bodies/barrett/barrett10.off"
00083 body "bodies/barrett/barrett11.off"
00084 body "bodies/barrett/barrett12.off"
00085
00086
00087 [JOINTS]
00088
00089 revolute: base (0,0,0) (0, 0,1)
00090 link1 (0,0,0) (0,-1,0)
00091
00092 revolute: link1 ( 0,0,0) ( 0,0,1)
00093 link2 (-a2,0,0) (-a2,0,1)
00094
00095 revolute: link2 (0,0, 0) (0,0, 1)
00096 link3 (0,d3,0) (0,d3+1,0)
00097
00098 revolute: link3 (0,0, 0) (0, 0, 1)
00099 link4 (0,d4,0) (0,d4-1,0)
00100
00101 revolute: link4 (0,0,0) (0, 0,1)
00102 link5 (0,0,0) (0,-1,0)
00103
00104 revolute: link5 (0,0,0) (0,0,1)
00105 EndEfector (0,0,0) (0,0,1)
00106
00107 fix: EndEfector hand Rx(pi/2)*Ty(0.084+0.065)
00108
00109 fix: base hand Txyz(0.25,0.15,0.5)*Rx(pi/2)
00110
