| Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity | |
| base_link,-0.00013359,6.672E-05,0.031672,0,0,0,0.42272,0.00018295,3.3215E-07,1.3234E-07,0.00018416,-7.784E-07,0.00019923,0,0,0,0,0,0,package://R5a/meshes/base_link.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://R5a/meshes/base_link.STL,,底座融合版V2.0-V0(A)KDzpros-1;DMDzpros-1/DMDDzpros-1;DMDzpros-1/DMSDzpros-1,Baselink,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, | |
| link1,0.0050395,-0.0077407,0.020897,0,0,0,0.096804,7.0654E-05,8.3266E-06,-1.1857E-05,4.5067E-05,1.7469E-05,6.235E-05,0,0,0,0,0,0,package://R5a/meshes/link1.STL,0.56471,0.56471,0.56471,1,0,0,0,0,0,0,package://R5a/meshes/link1.STL,,link1底座cZDKDzpros-1;link1底座轴承侧KDzpros-1,coordinate1,A1,joint1,revolute,0,0,0.0565,0,0,0,base_link,0,0,1,100,1000,-10,10,,,,,,,, | |
| link2,-0.12992,-0.0011822,-2.6366E-05,0,0,0,1.1988,0.00051785,2.9809E-08,2.2388E-08,0.0017846,4.325E-08,0.0016414,0,0,0,0,0,0,package://R5a/meshes/link2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://R5a/meshes/link2.STL,,大臂装配-vaaaZDKDzpros-1/120mm大臂ZDKDzpros-1;大臂装配-vaaaZDKDzpros-1/电机盖板ZDKDzpros-1;大臂装配-vaaaZDKDzpros-1/通用大电机ZDKDzpros-2/大电机通用座ZDKDzpros-1;电机转轴Dzpros-1;大臂装配-vaaaZDKDzpros-1/通用大电机ZDKDzpros-1/大电机通用座ZDKDzpros-1;大臂装配-vaaaZDKDzpros-1/通用大电机ZDKDzpros-1/motorDpros-2/DMDzpros-1;大臂装配-vaaaZDKDzpros-1/通用大电机ZDKDzpros-2/motorDpros-2/DMDzpros-1;bigA.-1;bigB.-1,coordinate2,A2,joint2,revolute,0.02,0,0.047,0,0,0,link1,0,1,0,100,1000,-10,10,,,,,,,, | |
| link3,0.16181,0.0011723,-0.05455,0,0,0,0.84082,0.00044368,-2.2473E-06,1.4667E-05,0.0015594,1.4355E-06,0.0013263,0,0,0,0,0,0,package://R5a/meshes/link3.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://R5a/meshes/link3.STL,,bs连接件aKDzpros-1;120mm大臂ZDKDzpros-1;bs连接件bKDzpros-1;轴承固定件KDzpros-1;688ZZZDKDzpros-1;smallApros-1;灯条板pros-2;灯条板pros-1;smallB.pros-1;电机盖板ZDKDzprobs-1;通用大电机ZDKDzpros-1/motorDpros-2/DMDzpros-1;通用大电机ZDKDzpros-1/大电机通用座ZDKDzpros-1,coordinate3,A3,joint3,revolute,-0.264,0,0,-3.1416,0,0,link2,0,1,0,100,1000,-10,10,,,,,,,, | |
| link4,0.041751,0.0054236,-0.03337,0,0,0,0.12432,8.8559E-05,1.2788E-05,8.8818E-06,7.3635E-05,-7.3672E-06,9.2749E-05,0,0,0,0,0,0,package://R5a/meshes/link4.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://R5a/meshes/link4.STL,,kk1Dzpros-1/link5电机固定a-V0(A)..通用(B)ZDKDzpros-1;kk1Dzpros-1/link4连接B-V0(A).(B)ZDKzpros-1;kk1Dzpros-1/小臂link4束线czpros-1,coordinate4,A4,joint4,revolute,0.245,-5E-05,-0.06,0,0,0,link3,0,1,0,100,1000,-10,10,,,,,,,, | |
| link5,-8.3435E-05,-1.5428E-05,0.052216,0,0,0,0.63601,0.00024899,2.8411E-07,7.0733E-06,0.00021719,-3.8928E-07,0.0002502,0,0,0,0,0,0,package://R5a/meshes/link5.STL,0.69804,0.69804,0.69804,1,0,0,0,0,0,0,package://R5a/meshes/link5.STL,,kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/motor2KDzpros-1;kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/motor2KDzpros-2;kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/夹爪限位(A).1.通用(B)ZDKDzpros-2;kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/链接二合一pros-1;kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/束线2zpros-1,coordinate5,A5,joint5,revolute,0.073914,5E-05,-0.083391,0,0,0,link4,0,0,1,100,1000,-10,10,,,,,,,, | |
| link6,0.041697,2.4368E-05,0.00014464,0,0,0,0.44089,0.00037449,-1.1802E-08,2.1487E-07,0.00012436,1.641E-06,0.00034725,0,0,0,0,0,0,package://R5a/meshes/link6.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://R5a/meshes/link6.STL,,平行夹爪final-1/motor2akk1kbDzjy-1;平行夹爪final-1/机械臂连接接口.-V0(A).1.通用CHNkk1kbDzjy-1;平行夹爪final-1/夹爪固定接口D(N)Nkk1kbDzjy-1;平行夹爪final-1/夹爪固定件-D(N)Nkk1kbDzjy-1;平行夹爪final-1/00-齿条约束kbDzjy-1;平行夹爪final-1/圆柱齿轮24×1.25.-V0(A).1.通用CHNkk1kbDzjy-1;平行夹爪final-1/滑轨 MGN9C_-V0(A).1.通用CHNkk1kbDzjy-1,coordinate6,A6,joint6,revolute,0.025286,0,0.083391,3.1416,0,0,link5,1,0,0,100,1000,-10,10,,,,,,,, | |
| link7,-0.00035522,-0.007827,-0.0029883,0,0,0,0.064798,1.9492E-05,4.2167E-06,-8.3727E-07,2.246E-05,4.2246E-07,2.2034E-05,0,0,0,0,0,0,package://R5a/meshes/link7.STL,1,1,1,1,0,0,0,0,0,0,package://R5a/meshes/link7.STL,,平行夹爪final-1/夹爪1-V2 (1)kbDzjy-1;平行夹爪final-1/滑块 MGN9C_-V0(A).1.通用CHNkk1kbDzjy-2;平行夹爪final-1/齿条0.0427256600888212×0.8.-V0(A).1.通用CHNkk1kbDzjy-1,coordinate7,A7,joint7,prismatic,0.08657,0.024896,-0.0002436,0,0,0,link6,0,1,0,100,1000,0,0.044,,,,,,,, | |
| link8,-0.000355223470270755,0.00782768751820277,0.00242005642879778,0,0,0,0.0647981725781684,1.98055189256316E-05,-4.2166669606035E-06,2.22082280812585E-06,2.27730012796136E-05,1.03056016847763E-06,2.203531402643E-05,0,0,0,0,0,0,package://R5a/meshes/link8.STL,1,1,1,1,0,0,0,0,0,0,package://R5a/meshes/link8.STL,,平行夹爪final-1/夹爪1-V2 (2)kbDzjy-2;平行夹爪final-1/滑块 MGN9C_-V0(A).1.通用CHNkk1kbDzjy-1;平行夹爪final-1/齿条0.0427256600888212×0.8.-V0(A).1.通用CHNkk1kbDzjy-2,coordinate8,A8,joint8,prismatic,0.08657,-0.0249,-0.00024366,0,0,0,link6,0,-1,0,100,1000,0,0.044,,,,,,,, | |