ROS2与OpenManipulator-X入门教程#humble版#-硬件介绍

文章说明

• 介绍OpenManipulator机械臂的硬件组成以及相关的硬件参数

概述

• OpenManipulator机械臂是一个完全开源的机器人操作平台

• OpenManipulator机械臂基于ROS和OpenSource。OpenManipulator机械臂在硬件上完全兼容TurtleBot3。使用者同时可以使用MoveIt!来控制它。

• OpenManipulato机械臂的大多数组件都以STL文件的方式上传到网络，以便使用者下载。其还支持使用者根据自己的需要去修改连接臂的长度或更改成其他结构。

• OpenManipulato机械臂同时支持Gazebo进行仿真

• 在ROS环境中，OpenManipulato机械臂支持在U2D2+U2D2电源转接板或者OpenCR板上使用；若在嵌入式系统上运行时，请准备OpenCR板。在这两种情况下，都要使用12V5A电源给DYNAMIXEL舵机供电。

硬件介绍

相关参数

硬件尺寸

Inertia

• 总重量: 711.37克

Joint 1

• Mass [gram] : 1.0483260e+02
• Center of Gravity [mm]
  • X : 0.0000000e+00
  • Y : -5.6914372e-01
  • Z : 2.6565513e+01
• Inertia Tensor with respect to C1 coordinate frame: [GRAM * MM^2]
  • Ixx Ixy Ixz : 1.0781918e+05 0.0000000e+00 0.0000000e+00
  • Iyx Iyy Iyz : 0.0000000e+00 1.0355255e+05 1.8062416e+03
  • Izx Izy Izz : 0.0000000e+00 1.8062416e+03 1.7644210e+04
• Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame: [GRAM * MM^2]
  • Ixx Ixy Ixz : 3.3802078e+04 0.0000000e+00 0.0000000e+00
  • Iyx Iyy Iyz : 0.0000000e+00 2.9569411e+04 2.2121514e+02
  • Izx Izy Izz : 0.0000000e+00 2.2121514e+02 1.7610252e+04
• Principal Moments of Inertia: [GRAM * MM^2]
  • I1 : 1.7606162e+04
  • I2 : 2.9573501e+04
  • I3 : 3.3802078e+04

Joint 2

• Mass [gram] : 1.4234630e+02
• Center of Gravity [mm]
  • X : -9.1617228e+00
  • Y : -4.1915210e-01
  • Z : 1.0599936e+02
• Inertia Tensor with respect to C2 coordinate frame: [GRAM * MM^2]
  • Ixx Ixy Ixz : 1.8365231e+06 -8.2177190e+02 1.6490470e+05
  • Iyx Iyy Iyz : -8.2177190e+02 1.8562153e+06 7.6370887e+03
  • Izx Izy Izz : 1.6490470e+05 7.6370887e+03 5.4940213e+04
• Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame: [GRAM * MM^2]
  • Ixx Ixy Ixz : 2.3711450e+05 -2.7513999e+02 2.6666982e+04
  • Iyx Iyy Iyz : -2.7513999e+02 2.4488355e+05 1.3126636e+03
  • Izx Izy Izz : 2.6666982e+04 1.3126636e+03 4.2967059e+04
• Principal Moments of Inertia: [GRAM * MM^2]
  • I1 : 3.9362142e+04
  • I2 : 2.4070845e+05
  • I3 : 2.4489452e+05

Joint 3

• Mass [gram] : 1.3467049e+02
• Center of Gravity [mm]
  • X : 3.6312773e-04
  • Y : -4.4304274e-01
  • Z : 9.3290225e+01
• Inertia Tensor with respect to C3 coordinate frame: [GRAM * MM^2]
  • Ixx Ixy Ixz : 1.3589608e+06 0.0000000e+00 -2.7331036e+00
  • Iyx Iyy Iyz : 0.0000000e+00 1.3502276e+06 6.7882502e+03
  • Izx Izy Izz : -2.7331036e+00 6.7882502e+03 2.4835638e+04
• Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame: [GRAM * MM^2]
  • Ixx Ixy Ixz : 1.8688812e+05 0.0000000e+00 1.8290300e+00
  • Iyx Iyy Iyz : 0.0000000e+00 1.7818139e+05 1.2221090e+03
  • Izx Izy Izz : 1.8290300e+00 1.2221090e+03 2.4809204e+04
• Principal Moments of Inertia: [GRAM * MM^2]
  • I1 : 2.4799466e+04
  • I2 : 1.7819113e+05
  • I3 : 1.8688812e+05

Joint 4

• Mass [gram] : 2.3550927e+02
• Center of Gravity [mm]
  • X : 6.1273313e+00
  • Y : 7.9503949e-04
  • Z : 6.0472935e+01
• Inertia Tensor with respect to C4 coordinate frame: [GRAM * MM^2]
  • Ixx Ixy Ixz : 1.1283350e+06 2.2172215e+02 -6.4649200e+04
  • Iyx Iyy Iyz : 2.2172215e+02 1.0777914e+06 3.9825896e+00
  • Izx Izy Izz : -6.4649200e+04 3.9825896e+00 1.8277436e+05
• Inertia Tensor at CENTER OF GRAVITY with respect to coordinate frame: [GRAM * MM^2]
  • Ixx Ixy Ixz : 2.6708326e+05 2.2286943e+02 2.2615865e+04
  • Iyx Iyy Iyz : 2.2286943e+02 2.0769766e+05 1.5305492e+01
  • Izx Izy Izz : 2.2615865e+04 1.5305492e+01 1.7393236e+05
• Principal Moments of Inertia: [GRAM * MM^2]
  • I1 : 1.6873182e+05
  • I2 : 2.0769694e+05
  • I3 : 2.7228452e+05

硬件组装

• 组装说明书