Collada 3D Model

General Information

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Model Structure

The collada model follows a tree structure. Meaning that the coordinates of each joint are in reference to the previous one at the tree structure

• Origin
  • Base Frame
    • Back Left Wheel
    • Back Right Wheel
    • Front Left Wheel
    • Front Right Wheel
    • Plate
    • Arm Base Frame
      • Arm Joint 1
        • Arm Joint 2
          • Arm Joint 3
            • Arm Joint 4
              • Arm Joint 5
                • Gripper Base Frame
                  • Gripper Left Finger
                  • Gripper Right Finger

All positions of the coordinates frames shown in the red box are in meters.
The axis shows the visual representation of the position of the coordinate frame.

Base

File:00base frame side view.JPG

Base frame (side view)

Wheels

File:02back-right wheel side view.JPG

Back Right Wheel (side view)

File:04front-right wheel.JPG

Back Right Wheel

File:04front-right wheel side view.JPG

Back Right Wheel (side view)

Payload Plate

File:05plate side view.JPG

Payload (side view)

Arm

Arm Base

File:10arm base frame side view.JPG

Arm Base frame (side view)

File:10arm base frame without platform.JPG

Arm Base frame (without platform)

Joint 1

File:11arm joint 1.JPG

Arm Joint 1

File:11arm joint 1 side view.JPG

Arm Joint 1 (side view)

Joint 2

File:12arm joint 2.JPG

Arm Joint 2

File:12arm joint 2 side view.JPG

Arm Joint 2 (side view)

Joint 3

File:13arm joint 3.JPG

Arm Joint 3

File:13arm joint 3 side view.JPG

Arm Joint 3 (side view)

Joint 4

File:14arm joint 4.JPG

Arm Joint 4

File:14arm joint 4 opposite side view.JPG

Arm Joint 4 (opposite side view)

Joint 5

File:15arm joint 5.JPG

Arm Joint 5

File:15arm joint 5 side view.JPG

Arm Joint 5 (side view)

Gripper Base

File:16gripper base frame.JPG

Gripper Base

File:16gripper base frame side view.JPG

Gripper Base (side view)

Gripper Fingers

File:17gripper left finger.JPG

Gripper Left Finger

File:17gripper left finger side view.JPG

Gripper Left Finger (side view)

File:18gripper right finger.JPG

Gripper Right Finger

File:18gripper right finger side view.JPG

Gripper Right Finger (side view)