From 87039ae624c136b0880a8182d42d890628cc68f8 Mon Sep 17 00:00:00 2001 From: MarkVoltov Date: Fri, 3 Dec 2021 12:26:03 +0300 Subject: [PATCH] =?UTF-8?q?=D0=9D=D0=BE=D0=B2=D0=B0=D1=8F=20=D0=B2=D0=B5?= =?UTF-8?q?=D1=80=D1=81=D0=B8=D1=8F=20=D0=B7=D0=B0=D1=85=D0=B2=D0=B0=D1=82?= =?UTF-8?q?=D0=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Неповоротный, простейший Сделан URDF --- README.md | 36 +- grip-tool.STEP | 194080 +++++---------- img/based.png | Bin 0 -> 55026 bytes img/closed.png | Bin 0 -> 61800 bytes img/grip-tool-closed.png | Bin 83015 -> 0 bytes img/grip-tool-open.png | Bin 91612 -> 0 bytes img/grip-tool-slice.png | Bin 98992 -> 0 bytes img/opened.png | Bin 0 -> 129748 bytes src/_connecting_module.STEP | 23756 -- src/_connecting_module_passive.STEP | 9207 - src/ball.SLDPRT | Bin 119811 -> 0 bytes src/bearing.SLDPRT | Bin 223590 -> 0 bytes src/case.SLDPRT | Bin 0 -> 467733 bytes .../_connecting_module_passive.SLDASM | Bin 0 -> 213829 bytes .../board_semple_3508.SLDPRT | Bin .../case_3508_1.SLDPRT | Bin 0 -> 374845 bytes .../connector_f_3508.SLDPRT | Bin .../connector_m_3508.SLDPRT | Bin src/connector_pin.SLDPRT | Bin 77583 -> 80035 bytes src/drive-casset.SLDPRT | Bin 0 -> 484603 bytes src/drive-gm6208.SLDPRT | Bin 137382 -> 0 bytes src/excentric.SLDPRT | Bin 96555 -> 0 bytes src/grip-tool.SLDASM | Bin 2525915 -> 718450 bytes src/grip.SLDPRT | Bin 0 -> 378522 bytes src/harmonic-reductor-1-20.SLDASM | Bin 286697 -> 0 bytes src/holder.SLDPRT | Bin 0 -> 445955 bytes src/motherboard.SLDPRT | Bin 0 -> 87861 bytes src/motherbrd_211124.SLDASM | Bin 0 -> 357803 bytes src/motor_211123.SLDPRT | Bin 0 -> 222395 bytes src/motor_board_211124.SLDASM | Bin 0 -> 268355 bytes src/motor_brd_211123.SLDPRT | Bin 0 -> 237960 bytes src/opening-gear.SLDPRT | Bin 0 -> 391466 bytes src/out-gear.SLDPRT | Bin 192458 -> 0 bytes src/passive/_connecting_module_passive.SLDASM | Bin 243567 -> 0 bytes src/passive/case_3508_1.SLDPRT | Bin 374142 -> 0 bytes src/pld_10_211122.SLDPRT | Bin 0 -> 174705 bytes src/pld_16_211122.SLDPRT | Bin 0 -> 225999 bytes src/processor plate.SLDPRT | Bin 0 -> 79686 bytes src/separator.SLDPRT | Bin 206120 -> 0 bytes src/shaft.SLDPRT | Bin 0 -> 96676 bytes src/threaded-coupling.SLDPRT | Bin 494339 -> 0 bytes src/Гнездо.SLDPRT | Bin 624267 -> 0 bytes src/Держатель привода.SLDPRT | Bin 280813 -> 0 bytes src/Держатель.SLDPRT | Bin 502928 -> 0 bytes src/Корпус - основа.SLDPRT | Bin 695380 -> 0 bytes src/Крышка.SLDPRT | Bin 331910 -> 0 bytes src/Палец.SLDPRT | Bin 238007 -> 0 bytes src/Плечо-держатель.SLDPRT | Bin 182020 -> 0 bytes src/Плечо-шестерня.SLDPRT | Bin 314035 -> 0 bytes src/Подшипник 30-55-13.SLDPRT | Bin 364669 -> 0 bytes src/ось.SLDPRT | Bin 348683 -> 0 bytes src/переходник.SLDPRT | Bin 142248 -> 0 bytes urdf/case_link_2.SLDPRT | Bin 0 -> 301946 bytes urdf/connector imitation.SLDPRT | Bin 0 -> 68185 bytes urdf/grip-tool-model-urdf/CMakeLists.txt | 14 + .../joint_names_grip-tool-model-urdf.yaml | 1 + urdf/grip-tool-model-urdf/export.log | 585 + .../launch/display.launch | 20 + .../grip-tool-model-urdf/launch/gazebo.launch | 20 + .../grip-tool-model-urdf/meshes/base_link.STL | Bin 0 -> 975984 bytes urdf/grip-tool-model-urdf/meshes/grip_1.STL | Bin 0 -> 43184 bytes urdf/grip-tool-model-urdf/meshes/grip_2.STL | Bin 0 -> 43184 bytes urdf/grip-tool-model-urdf/package.xml | 21 + .../urdf/grip-tool-model-urdf.csv | 4 + .../urdf/grip-tool-model-urdf.urdf | 163 + urdf/grip-tool-model.SLDASM | Bin 0 -> 310471 bytes urdf/grip_link_3.SLDPRT | Bin 0 -> 378522 bytes urdf/holder_link_2.SLDPRT | Bin 0 -> 445955 bytes urdf/~$case_link_2.SLDPRT | Bin 0 -> 3 bytes urdf/~$connector imitation.SLDPRT | Bin 0 -> 3 bytes urdf/~$grip-tool-model.SLDASM | Bin 0 -> 3 bytes urdf/~$grip_link_3.SLDPRT | Bin 0 -> 3 bytes urdf/~$holder_link_2.SLDPRT | Bin 0 -> 3 bytes 73 files changed, 59361 insertions(+), 168546 deletions(-) create mode 100644 img/based.png create mode 100644 img/closed.png delete mode 100644 img/grip-tool-closed.png delete mode 100644 img/grip-tool-open.png delete mode 100644 img/grip-tool-slice.png create mode 100644 img/opened.png delete mode 100644 src/_connecting_module.STEP delete mode 100644 src/_connecting_module_passive.STEP delete mode 100644 src/ball.SLDPRT delete mode 100644 src/bearing.SLDPRT create mode 100644 src/case.SLDPRT create mode 100644 src/connector_module_passive/_connecting_module_passive.SLDASM rename src/{passive => connector_module_passive}/board_semple_3508.SLDPRT (100%) create mode 100644 src/connector_module_passive/case_3508_1.SLDPRT rename src/{passive => connector_module_passive}/connector_f_3508.SLDPRT (100%) rename src/{passive => connector_module_passive}/connector_m_3508.SLDPRT (100%) create mode 100644 src/drive-casset.SLDPRT delete mode 100644 src/drive-gm6208.SLDPRT delete mode 100644 src/excentric.SLDPRT create mode 100644 src/grip.SLDPRT delete mode 100644 src/harmonic-reductor-1-20.SLDASM create mode 100644 src/holder.SLDPRT create mode 100644 src/motherboard.SLDPRT create mode 100644 src/motherbrd_211124.SLDASM create mode 100644 src/motor_211123.SLDPRT create mode 100644 src/motor_board_211124.SLDASM create mode 100644 src/motor_brd_211123.SLDPRT create mode 100644 src/opening-gear.SLDPRT delete mode 100644 src/out-gear.SLDPRT delete mode 100644 src/passive/_connecting_module_passive.SLDASM delete mode 100644 src/passive/case_3508_1.SLDPRT create mode 100644 src/pld_10_211122.SLDPRT create mode 100644 src/pld_16_211122.SLDPRT create mode 100644 src/processor plate.SLDPRT delete mode 100644 src/separator.SLDPRT create mode 100644 src/shaft.SLDPRT delete mode 100644 src/threaded-coupling.SLDPRT delete mode 100644 src/Гнездо.SLDPRT delete mode 100644 src/Держатель привода.SLDPRT delete mode 100644 src/Держатель.SLDPRT delete mode 100644 src/Корпус - основа.SLDPRT delete mode 100644 src/Крышка.SLDPRT delete mode 100644 src/Палец.SLDPRT delete mode 100644 src/Плечо-держатель.SLDPRT delete mode 100644 src/Плечо-шестерня.SLDPRT delete mode 100644 src/Подшипник 30-55-13.SLDPRT delete mode 100644 src/ось.SLDPRT delete mode 100644 src/переходник.SLDPRT create mode 100644 urdf/case_link_2.SLDPRT create mode 100644 urdf/connector imitation.SLDPRT create mode 100644 urdf/grip-tool-model-urdf/CMakeLists.txt create mode 100644 urdf/grip-tool-model-urdf/config/joint_names_grip-tool-model-urdf.yaml create mode 100644 urdf/grip-tool-model-urdf/export.log create mode 100644 urdf/grip-tool-model-urdf/launch/display.launch create mode 100644 urdf/grip-tool-model-urdf/launch/gazebo.launch create mode 100644 urdf/grip-tool-model-urdf/meshes/base_link.STL create mode 100644 urdf/grip-tool-model-urdf/meshes/grip_1.STL create mode 100644 urdf/grip-tool-model-urdf/meshes/grip_2.STL create mode 100644 urdf/grip-tool-model-urdf/package.xml create mode 100644 urdf/grip-tool-model-urdf/urdf/grip-tool-model-urdf.csv create mode 100644 urdf/grip-tool-model-urdf/urdf/grip-tool-model-urdf.urdf create mode 100644 urdf/grip-tool-model.SLDASM create mode 100644 urdf/grip_link_3.SLDPRT create mode 100644 urdf/holder_link_2.SLDPRT create mode 100644 urdf/~$case_link_2.SLDPRT create mode 100644 urdf/~$connector imitation.SLDPRT create mode 100644 urdf/~$grip-tool-model.SLDASM create mode 100644 urdf/~$grip_link_3.SLDPRT create mode 100644 urdf/~$holder_link_2.SLDPRT diff --git a/README.md b/README.md index c5332b9..703daca 100644 --- a/README.md +++ b/README.md @@ -1,36 +1,28 @@ # Grip Tool -Приспособление универсальное для захвата +Приспособление универсальное для захвата v4 + +![grip-tool-v.4](img/based.png) +![grip-tool-v.4 в открытом состоянии](img/opened.png) +![grip-tool-v.4 в закрытом состоянии](img/closed.png) -![grip-tool-v.3.1 в открытом состоянии](img/grip-tool-open.png) -![grip-tool-v.3.1 в закрытом состоянии](img/grip-tool-closed.png) -![grip-tool-v.3.1 в разрезе](img/grip-tool-slice.png) ## Описание -Приспособление универсальное для захвата. +Максимально упрощенное приспособление. Вращаться не может, зато соответствует всем остальным требованиям -Габариты (Ш-Д-В), мм: 90-338-108 -Масса, г: 1917 +Максимальное раскрытие - 115 мм +Габариты 90х90х149 +Масса ~0.5 кг -Ширина раскрытия, мм: 122,9 +В сборке используется привод GM 6208 -Приспособление может неограниченное число оборотов вращаться вокруг оси. +Захват состоит из четырех основных узлов: -В сборке используются два привода GM 6208. - -Модель адаптирована под максимально простую сборку, почти все узлы объединены в блоки: -1. Кассета с двигателем и редуктором -2. Кассета с двигателем и резьбовой втулкой -3. Гнездо для электроплат +1. Кассета с двигателем и электроникой +2. Несущий корпус +3. Захватная часть 4. Стыковочный модуль -5. Клешня - изготавливается целиком на 3д-принтере -6. Вал -7. Корпус из двух частей - основания и крышки - -С помощью выходов и проводов, проложенных внутри корпуса, возможно очень просто подключить каждый блок к сети. - -Для манипулятора разработан пассивный стыковочный модуль, значительно меньший по габаритам и более простой diff --git a/grip-tool.STEP b/grip-tool.STEP index 790f937..90801e9 100644 --- a/grip-tool.STEP +++ b/grip-tool.STEP @@ -3,7 +3,7 @@ HEADER; FILE_DESCRIPTION (( 'STEP AP214' ), '1' ); FILE_NAME ('grip-tool.STEP', - '2021-11-14T19:44:44', + '2021-12-03T08:17:32', ( '' ), ( '' ), 'SwSTEP 2.0', @@ -13,136083 +13,59041 @@ FILE_SCHEMA (( 'AUTOMOTIVE_DESIGN' )); ENDSEC; DATA; -#1 = AXIS2_PLACEMENT_3D ( 'NONE', #32417, #92626, #72520 ) ; -#2 = VERTEX_POINT ( 'NONE', #76838 ) ; -#3 = CYLINDRICAL_SURFACE ( 'NONE', #26825, 6.999999999999999112 ) ; -#4 = CARTESIAN_POINT ( 'NONE', ( -2.596170034615356189E-16, 24.00000000000000000, 22.50000000000014211 ) ) ; -#5 = VERTEX_POINT ( 'NONE', #106609 ) ; -#6 = AXIS2_PLACEMENT_3D ( 'NONE', 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