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添加机械臂和移液站

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zhangshixiang
2025-07-19 16:09:56 +08:00
parent ae712e35ab
commit 9f652fa78a
150 changed files with 9911 additions and 652 deletions
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153
unilabos/device_mesh/devices/hplc_station/macro_device.xacro Normal file
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="hplc_station" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
<parent link="${parent_link}"/>
<child link="${station_name}${device_name}device_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}device_link"/>
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}base_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.016555 0.76648 0.42623"/>
<mass value="3345.4"/>
<inertia ixx="707.32" ixy="-0.15257" ixz="-0.27572" iyy="740.04" iyz="-0.13481" izz="1091.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/hplc_station/meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/hplc_station/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}arm_base">
<inertial>
<origin rpy="0 0 0" xyz="0.1335 -0.125 -0.073692"/>
<mass value="4.5437"/>
<inertia ixx="0.13672" ixy="3.0798E-17" ixz="1.0696E-19" iyy="0.13672" iyz="2.5459E-20" izz="0.27331"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/hplc_station/meshes/arm_base.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/hplc_station/meshes/arm_base.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}arm_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.5835 0.575 0.813"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}arm_base"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}ws_base">
<inertial>
<origin rpy="0 0 0" xyz="0.45395 0.36376 0.22824"/>
<mass value="15.878"/>
<inertia ixx="0.94748" ixy="3.4968E-05" ixz="4.426E-05" iyy="1.0589" iyz="-0.011663" izz="1.605"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/hplc_station/meshes/ws_base.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/hplc_station/meshes/ws_base.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}ws_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.75 -0.75 0.8"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}ws_base"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}z_link">
<inertial>
<origin rpy="0 0 0" xyz="0.76043 1.5021 -0.36124"/>
<mass value="3404.5"/>
<inertia ixx="2801.7" ixy="-3.2275" ixz="-23.671" iyy="869.48" iyz="55.159" izz="3130.4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/hplc_station/meshes/z_link.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/hplc_station/meshes/z_link.STL"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}x_link">
</link>
<joint name="${station_name}${device_name}x_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${station_name}${device_name}ws_base"/>
<child link="${station_name}${device_name}x_link"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="0" upper="0.5" velocity="0"/>
</joint>
<link name="${station_name}${device_name}y_link">
</link>
<joint name="${station_name}${device_name}y_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${station_name}${device_name}x_link"/>
<child link="${station_name}${device_name}y_link"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="0" upper="0.5" velocity="0"/>
</joint>
<joint name="${station_name}${device_name}z_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${station_name}${device_name}y_link"/>
<child link="${station_name}${device_name}z_link"/>
<axis xyz="0 0 -1"/>
<limit effort="0" lower="0" upper="0.5" velocity="0"/>
</joint>
</xacro:macro>
</robot>