Difference between revisions of "YouBot 3D Model"

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(Created page with " == Kinematics == In the list below each rigid body has a relative position and orientation with respect to its parent frame. Orientation is described in Euler angles. The com...")
 
 
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−
== Kinematics ==
+
== Kinematics and dynamics ==
 
In the list below each rigid body has a relative position and orientation with respect to its parent frame. Orientation is described in Euler angles. The composite rotation convention is Yaw Pitch Roll (ZYX). Joint type describes the type of a constraint, where type can be one of the following: revolute - a hinge joint that rotates along the axis and has a limited range specified by the upper and lower limits; continuous - a continuous hinge joint that rotates around the axis and has no upper and lower limits; prismatic - a sliding joint that slides along the axis, and has a limited range specified by the upper and lower limits. Joint axis is the axis of rotation for revolute joint or the axis of translation for prismatic joint. Joint axis is specified in the joint frame. The dynamics related parameters are mass, relative pose of center of mass and moment of inertia tensor.
 
In the list below each rigid body has a relative position and orientation with respect to its parent frame. Orientation is described in Euler angles. The composite rotation convention is Yaw Pitch Roll (ZYX). Joint type describes the type of a constraint, where type can be one of the following: revolute - a hinge joint that rotates along the axis and has a limited range specified by the upper and lower limits; continuous - a continuous hinge joint that rotates around the axis and has no upper and lower limits; prismatic - a sliding joint that slides along the axis, and has a limited range specified by the upper and lower limits. Joint axis is the axis of rotation for revolute joint or the axis of translation for prismatic joint. Joint axis is specified in the joint frame. The dynamics related parameters are mass, relative pose of center of mass and moment of inertia tensor.
  
−
All the values are the same as in the KUKA youBot Gazebo Model.
+
    Note: Relative positions and orientations are set to work properly with data obtained from .blend model that can be found in download section.
 +
 
 +
[[File:youbotCoordinates.png]]
 +
 
 +
All the values are the same as in the KUKA youBot Gazebo Model. You can find all the files that contains this data in [https://github.com/youbot/youbot_description youbot_description github repository].
 +
 
 
=== Base ===
 
=== Base ===
−
    base frame
+
 
−
            Relative positionXYZ = “0mm 0mm 84mm”
+
Relative positionXYZ = “0mm 0mm 84mm”
−
            Mass = “19.803kg”
+
 
 +
Mass = “19.803kg”
  
 
     Note: Mass of the base includes the metal frame, the plastic cover, electronics, the battery, the motors and the shafts. It only excludes wheels and the plate.
 
     Note: Mass of the base includes the metal frame, the plastic cover, electronics, the battery, the motors and the shafts. It only excludes wheels and the plate.
  
−
        front-left wheel joint
+
'''front-left wheel joint'''
−
            Parent joint = “base frame”;
+
*Parent joint = “base frame”;
−
            Relative positionXYZ = “228mm 158mm -34mm”;
+
*Relative positionXYZ = “228mm 158mm -34mm”;
−
            Joint type = “continuous”;
+
*Joint type = “continuous”;
−
            joint axis = “0 1 0”;
+
*joint axis = “0 1 0”;
−
            Mass = “1.40kg”.
+
*Mass = “1.40kg”.
  
 
     Note: Mass of the wheel excludes the motor and the shaft. The motor and the shaft are already included in the base.
 
     Note: Mass of the wheel excludes the motor and the shaft. The motor and the shaft are already included in the base.
  
−
        front-right wheel joint
+
'''front-right wheel joint'''
−
            Parent joint = “base frame”;
+
*Parent joint = “base frame”;
−
            Relative positionXYZ = “228mm -158mm -34mm”;
+
*Relative positionXYZ = “228mm -158mm -34mm”;
−
            Joint type = “continuous”;
+
*Joint type = “continuous”;
−
            Joint axis = “0 1 0”;
+
*Joint axis = “0 1 0”;
−
            Mass = “1.40kg”.
+
*Mass = “1.40kg”.
−
        back-left wheel joint
+
 
−
            Parent joint = “base frame”;
+
'''back-left wheel joint'''
−
            Relative positionXYZ = “-228mm 158mm -34mm”;
+
*Parent joint = “base frame”;
−
            Joint type = “continuous”;
+
*Relative positionXYZ = “-228mm 158mm -34mm”;
−
            joint axis = “0 1 0”;
+
*Joint type = “continuous”;
−
            Mass = “1.40kg”.
+
*joint axis = “0 1 0”;
−
        back-right wheel joint
+
*Mass = “1.40kg”.
−
            Parent joint = “base frame”;
+
 
−
            Relative positionXYZ = “-228mm -158mm -34mm”;
+
'''back-right wheel joint'''
−
            Joint type = “continuous”;
+
*Parent joint = “base frame”;
−
            Joint axis = “0 1 0”;
+
*Relative positionXYZ = “-228mm -158mm -34mm”;
−
            Mass = “1.40kg”.
+
*Joint type = “continuous”;
−
        plate
+
*Joint axis = “0 1 0”
−
            Parent joint = “base frame”;
+
*Mass = “1.40kg”.
−
            Relative positionXYZ = “-159mm 0mm 46mm”;
+
 
−
            Joint type = “fixed”;
+
'''plate'''
−
            Mass = “2.397kg”.
+
*Parent joint = “base frame”;
 +
*Relative positionXYZ = “-159mm 0mm 46mm”;
 +
*Joint type = “fixed”;
 +
*Mass = “2.397kg”.
  
 
=== Arm ===
 
=== Arm ===
−
== Dynamics ==
+
The inertia values presented in this section are based only on youBot geometry and does not include any information about inertia of elements inside the arm (motors, motor controllers), so they are '''not valid''' for real robot. Unfortunately could not provide any more detailed data.
−
=== Base ===
+
−
=== Arm ===
+
−
== Download ==
+
−
 
+
  
−
 
+
'''arm base frame'''
  
−
    KUKA youBot 5-degree-of-freedom arm
+
*Parent joint = “base”;
 +
*Relative positionXYZ = “143mm 0mm 46mm”;
 +
*Joint type = “fixed”;
 +
*Mass = “0.961kg”.
  
−
        arm base frame
+
<pre>Note: If the KUKA youBot arm system is operated without a mobile platform, the arm base frame is the origin frame. In this case, its relative positionXYZ is “0,0,0”.
 +
If the arm is mounted on the mobile platform, the arm base frame represents a coordinate transformation with respect to the mobile platform base frame. </pre>
  
−
            Parent joint = “base”;
+
'''arm joint 1'''
−
            Relative positionXYZ = “143mm 0mm 46mm”;
+
*Parent joint = “arm base frame”;
−
            Joint type = “fixed”;  
+
*Relative positionXYZ = “24mm 0mm 115mm”;
−
            Mass = “0.961kg”.
+
*OrientationZYX = “0° 0° 180°”;
 +
*Joint type = “revolute”;  
 +
*Joint axis = “0 0 1”;
 +
*Joint limits = “-169° 169°”;
 +
*Mass = “1.390kg”, max. torque = “9.5Nm”;
 +
*Principal axis of inertia:
 +
**positionXYZ = “15.16mm 3.59mm 31.05mm”;
 +
**orientationZYX = “180° 20° 0°”;
 +
**inertia = “xx = 0.0029525kg·m² yy = 0.0060091kg·m² zz=0.0058821kg·m²”.
  
−
    Note: If the KUKA youBot arm system is operated without a mobile platform, the arm base frame is the origin frame. In this case, its relative positionXYZ is “0,0,0”. If the arm is mounted on the mobile platform, the arm base frame represents a coordinate transformation with respect to the mobile platform base frame.
+
'''arm joint 2'''
 +
*Parent joint = “arm joint 1”;
 +
*Relative positionXYZ = “33mm 0mm 0mm”;
 +
*Orientation ZYX = “-90° 0° 90°”;
 +
*Joint type = “revolute”;
 +
*Joint axis = “0 0 1”;
 +
*Joint limits = “-65° 90°”;
 +
*Mass = “1.318kg”, max. torque = “9.5Nm”;
 +
*Principal axis of inertia:
 +
**positionXYZ = “113.97mm 15.0mm -19.03mm”;
 +
**orientationZYX = “-90° 0° -90°”;
 +
**inertia = “xx = 0.0031145kg·m² yy = 0.0005843kg·m² zz=0.0031631kg·m²”.
  
−
        arm joint 1
+
'''arm joint 3'''
−
            Parent joint = “arm base frame”;
+
*Parent joint = “arm joint 2”;
−
            Relative positionXYZ = “24mm 0mm 115mm”;
+
*Relative positionXYZ = “155mm 0mm 0mm”;
−
            OrientationZYX = “0° 0° 180°”;
+
*OrientationZYX = “-90° 0° 0°”;
−
            Joint type = “revolute”;  
+
*Joint type = “revolute”;
−
            Joint axis = “0 0 1”;
+
*Joint axis = “0 0 1”;
−
            Joint limits = “-169° 169°”;
+
*Joint limits = “-151° 146°”;
−
            Mass = “1.390kg”, max. torque = “9.5Nm”;
+
*Mass = “0.821kg”, max. torque = “6.0Nm”;
−
            Principal axis of inertia:
+
*Principal axis of inertia:
−
                positionXYZ = “15.16mm 3.59mm 31.05mm”;  
+
**positionXYZ = “0.13mm 104.41mm 20.22mm”;
−
                orientationZYX = “180° 20° 0°”;
+
**orientationZYX = “0° 0° 90°”;
−
                inertia = “xx = 0.0029525kg·m² yy = 0.0060091kg·m² zz=0.0058821kg·m²”.
+
**inertia = “xx = 0.00172767kg·m² yy = 0.00041967kg·m² zz=0.0018468kg·m²”.
  
−
        arm joint 2
+
'''arm joint 4'''
−
            Parent joint = “arm joint 1”;
+
*Parent joint = “arm joint 3”;
−
            Relative positionXYZ = “33mm 0mm 0mm”;
+
*Relative positionXYZ = “0mm 135mm 0mm”;
−
            Orientation ZYX = “-90° 0° 90°”;
+
*OrientationZYX = “0° 0° 0°”;
−
            Joint type = “revolute”;
+
*Joint type = “revolute”;
−
            Joint axis = “0 0 1”;
+
*Joint axis = “0 0 1”;
−
            Joint limits = “-65° 90°”;
+
*Joint limits = “-102.5° 102.5°”;
−
            Mass = “1.318kg”, max. torque = “9.5Nm”;
+
*Mass = “0.769kg”, max. torque = “2.0Nm”;
−
            Principal axis of inertia:
+
*Principal axis of inertia:
−
                positionXYZ = “113.97mm 15.0mm -19.03mm”;
+
**positionXYZ = “0.15mm 53.53mm -24.64mm”;
−
                orientationZYX = “-90° 0° -90°”;
+
**orientationZYX = “0° 180° 40°”;
−
                inertia = “xx = 0.0031145kg·m² yy = 0.0005843kg·m² zz=0.0031631kg·m²”.
+
**inertia = “xx = 0.0006764kg·m² yy = 0.0010573kg·m² zz=0.0006610kg·m²”.
  
−
        arm joint 3
+
'''arm joint 5'''
−
            Parent joint = “arm joint 2”;
+
*Parent joint = “arm joint 4”;
−
            Relative positionXYZ = “155mm 0mm 0mm”;
+
*Relative positionXYZ = “0mm 113.6mm 0mm”;
−
            OrientationZYX = “-90° 0° 0°”;
+
*OrientationZYX = “0° 0° -90°”;
−
            Joint type = “revolute”;
+
*Joint type = “revolute”;
−
            Joint axis = “0 0 1”;
+
*Joint axis = “0 0 -1”;
−
            Joint limits = “-151° 146°”;
+
*Joint limits = “-165° 165°”;
−
            Mass = “0.821kg”, max. torque = “6.0Nm”;
+
*Mass = “0.687kg”, max. torque = “1.0Nm”;
−
            Principal axis of inertia:
+
*Principal axis of inertia:
−
                positionXYZ = “0.13mm 104.41mm 20.22mm”;
+
**positionXYZ = “0mm 1.2mm –16.48mm”;
−
                orientationZYX = “0° 0° 90°”;
+
**orientationZYX = “0°90°0°”;
−
                inertia = “xx = 0.00172767kg·m² yy = 0.00041967kg·m² zz=0.0018468kg·m²”.
+
**inertia = “xx = 0.0001934kg·m² yy = 0.0001602kg·m² zz=0.0000689kg·m²”.
  
−
        arm joint 4
+
=== Gripper ===
−
            Parent joint = “arm joint 3”;
+
'''gripper base frame'''
−
            Relative positionXYZ = “0mm 135mm 0mm”;
+
*Parent joint = “arm joint 5”;
−
            OrientationZYX = “0° 0° 0°”;
+
*Relative position = “0mm 0mm 57.16mm”;
−
            Joint type = “revolute”;
+
*OrientationZYX = “180° 0° 0°”;
−
            Joint axis = “0 0 1”;
+
*Joint type = “fixed”;
−
            Joint limits = “-102.5° 102.5°”;
+
*Mass = “0.199kg”;
−
            Mass = “0.769kg”, max. torque = “2.0Nm”;
+
*Principal axis of inertia:
−
            Principal axis of inertia:
+
**positionXYZ = “0mm 0mm 28.9mm”;
−
                positionXYZ = “0.15mm 53.53mm -24.64mm”;
+
**orientationZYX = “180° 0° 90°”;
−
                orientationZYX = “0° 180° 40°”;
+
**inertia = “xx = 0.0002324kg·m² yy = 0.0003629kg·m² zz=0.0002067kg·m²”.
−
                inertia = “xx = 0.0006764kg·m² yy = 0.0010573kg·m² zz=0.0006610kg·m²”.
+
  
−
        arm joint 5
+
'''gripper left finger joint'''
−
            Parent joint = “arm joint 4”;
+
*Parent joint = “gripper base frame”;
−
            Relative positionXYZ = “0mm 113.6mm 0mm”;
+
*Relative position = “0mm 8.2mm 0mm”;
−
            OrientationZYX = “0° 0° -90°”;
+
*Joint type = “prismatic”;
−
            Joint type = “revolute”;
+
*Joint axis = “0 1 0”;
−
            Joint axis = “0 0 -1”;
+
*Joint limits = “0mm 12.5mm”;
−
            Joint limits = “-165° 165°”;
+
*Mass = “0.010kg”.
−
            Mass = “0.687kg”, max. torque = “1.0Nm”;
+
−
            Principal axis of inertia:
+
−
                positionXYZ = “0mm 1.2mm –16.48mm”;
+
−
                orientationZYX = “0°90°0°”;
+
−
                inertia = “xx = 0.0001934kg·m² yy = 0.0001602kg·m² zz=0.0000689kg·m²”.
+
  
 +
'''gripper right finger joint'''
 +
*Parent joint = “gripper base frame”;
 +
*Relative position = “0mm -8.2mm 0mm”;
 +
*Joint type = “prismatic”;
 +
*Joint axis = “0 -1 0”;
 +
*Joint limits = “0mm 12.5mm”;
 +
*Mass = “0.010kg”.
 +
 +
== Download ==
  
−
    KUKA youBot 2-finger gripper
+
You can download hi-poly and low-poly KUKA youBot 3D models in different file formats.
  
−
        gripper base frame
+
Original 3D model, converted from CAD drawings: [http://ftp.youbot-store.com/software/models/youbot_model_from_cad.zip in Blender format]
−
            Parent joint = “arm joint 5”;
+
−
            Relative position = “0mm 0mm 57.16mm”;
+
−
            OrientationZYX = “180° 0° 0°”;
+
−
            Joint type = “fixed”;
+
−
            Mass = “0.199kg”;
+
−
            Principal axis of inertia:
+
−
                positionXYZ = “0mm 0mm 28.9mm”;
+
−
                orientationZYX = “180° 0° 90°”;
+
−
                inertia = “xx = 0.0002324kg·m² yy = 0.0003629kg·m² zz=0.0002067kg·m²”.
+
−
        gripper left finger joint
+
−
            Parent joint = “gripper base frame”;
+
−
            Relative position = “0mm 8.2mm 0mm”;
+
−
            Joint type = “prismatic”;
+
−
            Joint axis = “0 1 0”;
+
−
            Joint limits = “0mm 12.5mm”;
+
−
            Mass = “0.010kg”.
+
−
            gripper right finger joint
+
−
            Parent joint = “gripper base frame”;
+
−
            Relative position = “0mm -8.2mm 0mm”;
+
−
            Joint type = “prismatic”;
+
−
            Joint axis = “0 -1 0”;
+
−
            Joint limits = “0mm 12.5mm”;
+
−
            Mass = “0.010kg”.
+
  
−
   
+
Simplified 3D model, suitable for visualization: [http://ftp.youbot-store.com/software/models/youbot_model_blender.zip in Blender format], [http://ftp.youbot-store.com/software/models/youbot_model_collada.zip in Collada format]
  
−
    Here you can download hi-poly and low-poly KUKA youBot 3D models in different file formats.
+
Convexhull approximation of the model above, reduced number of polygons, suitable for collision checking: [http://ftp.youbot-store.com/software/models/youbot_model_convexhull.zip in STL format]
  
−
        Original 3D model, converted from CAD drawings: in Blender format;
+
Or simply [http://ftp.youbot-store.com/software/models/youbot_model_complete.zip follow this link] to download entire package.
−
        Simplified 3D model, suitable for visualization:in Blender format, in Collada format;
+
−
        Convexhull approximation of the model above, reduced number of polygons, suitable for collision checking: in STL format.
+
  
−
    Or simply follow this link to download entire package.
 
  
−
    In addition, a model of the KUKA youBot is also available in the Webots package.
+
In addition, a model of the KUKA youBot is also available in the [http://www.youbot-store.com/developers/webots Webots package]
  
−
    KUKA provides simplified STEP files of the platform and the arm.
+
KUKA provides simplified STEP files of the [http://www.kuka-labs.com/NR/rdonlyres/204B1F17-EAAD-41C4-AACA-930F2A560DE6/0/youbot_platform_v1.zip platform] and the [http://www.kuka-labs.com/NR/rdonlyres/212EAFB3-ABA8-4E5E-998F-D2A06B5E81AF/0/youBot_arm_v1.zip arm]

Latest revision as of 16:18, 1 June 2015

Kinematics and dynamics

In the list below each rigid body has a relative position and orientation with respect to its parent frame. Orientation is described in Euler angles. The composite rotation convention is Yaw Pitch Roll (ZYX). Joint type describes the type of a constraint, where type can be one of the following: revolute - a hinge joint that rotates along the axis and has a limited range specified by the upper and lower limits; continuous - a continuous hinge joint that rotates around the axis and has no upper and lower limits; prismatic - a sliding joint that slides along the axis, and has a limited range specified by the upper and lower limits. Joint axis is the axis of rotation for revolute joint or the axis of translation for prismatic joint. Joint axis is specified in the joint frame. The dynamics related parameters are mass, relative pose of center of mass and moment of inertia tensor. 

   Note: Relative positions and orientations are set to work properly with data obtained from .blend model that can be found in download section.

YoubotCoordinates.png

All the values are the same as in the KUKA youBot Gazebo Model. You can find all the files that contains this data in youbot_description github repository.

Base

Relative positionXYZ = “0mm 0mm 84mm”

Mass = “19.803kg” 

   Note: Mass of the base includes the metal frame, the plastic cover, electronics, the battery, the motors and the shafts. It only excludes wheels and the plate.

front-left wheel joint

  • Parent joint = “base frame”;
  • Relative positionXYZ = “228mm 158mm -34mm”;
  • Joint type = “continuous”;
  • joint axis = “0 1 0”;
  • Mass = “1.40kg”.
   Note: Mass of the wheel excludes the motor and the shaft. The motor and the shaft are already included in the base.

front-right wheel joint

  • Parent joint = “base frame”;
  • Relative positionXYZ = “228mm -158mm -34mm”;
  • Joint type = “continuous”;
  • Joint axis = “0 1 0”;
  • Mass = “1.40kg”.

back-left wheel joint

  • Parent joint = “base frame”;
  • Relative positionXYZ = “-228mm 158mm -34mm”;
  • Joint type = “continuous”;
  • joint axis = “0 1 0”;
  • Mass = “1.40kg”.

back-right wheel joint

  • Parent joint = “base frame”;
  • Relative positionXYZ = “-228mm -158mm -34mm”;
  • Joint type = “continuous”;
  • Joint axis = “0 1 0”
  • Mass = “1.40kg”.

plate

  • Parent joint = “base frame”;
  • Relative positionXYZ = “-159mm 0mm 46mm”;
  • Joint type = “fixed”;
  • Mass = “2.397kg”.

Arm

The inertia values presented in this section are based only on youBot geometry and does not include any information about inertia of elements inside the arm (motors, motor controllers), so they are not valid for real robot. Unfortunately could not provide any more detailed data.

arm base frame

  • Parent joint = “base”;
  • Relative positionXYZ = “143mm 0mm 46mm”;
  • Joint type = “fixed”;
  • Mass = “0.961kg”.
Note: If the KUKA youBot arm system is operated without a mobile platform, the arm base frame is the origin frame. In this case, its relative positionXYZ is “0,0,0”. 
If the arm is mounted on the mobile platform, the arm base frame represents a coordinate transformation with respect to the mobile platform base frame.

arm joint 1

  • Parent joint = “arm base frame”;
  • Relative positionXYZ = “24mm 0mm 115mm”;
  • OrientationZYX = “0° 0° 180°”;
  • Joint type = “revolute”;
  • Joint axis = “0 0 1”;
  • Joint limits = “-169° 169°”;
  • Mass = “1.390kg”, max. torque = “9.5Nm”;
  • Principal axis of inertia:
    • positionXYZ = “15.16mm 3.59mm 31.05mm”;
    • orientationZYX = “180° 20° 0°”;
    • inertia = “xx = 0.0029525kg·m² yy = 0.0060091kg·m² zz=0.0058821kg·m²”.

arm joint 2

  • Parent joint = “arm joint 1”;
  • Relative positionXYZ = “33mm 0mm 0mm”;
  • Orientation ZYX = “-90° 0° 90°”;
  • Joint type = “revolute”;
  • Joint axis = “0 0 1”;
  • Joint limits = “-65° 90°”;
  • Mass = “1.318kg”, max. torque = “9.5Nm”;
  • Principal axis of inertia:
    • positionXYZ = “113.97mm 15.0mm -19.03mm”;
    • orientationZYX = “-90° 0° -90°”;
    • inertia = “xx = 0.0031145kg·m² yy = 0.0005843kg·m² zz=0.0031631kg·m²”.

arm joint 3

  • Parent joint = “arm joint 2”;
  • Relative positionXYZ = “155mm 0mm 0mm”;
  • OrientationZYX = “-90° 0° 0°”;
  • Joint type = “revolute”;
  • Joint axis = “0 0 1”;
  • Joint limits = “-151° 146°”;
  • Mass = “0.821kg”, max. torque = “6.0Nm”;
  • Principal axis of inertia:
    • positionXYZ = “0.13mm 104.41mm 20.22mm”;
    • orientationZYX = “0° 0° 90°”;
    • inertia = “xx = 0.00172767kg·m² yy = 0.00041967kg·m² zz=0.0018468kg·m²”.

arm joint 4

  • Parent joint = “arm joint 3”;
  • Relative positionXYZ = “0mm 135mm 0mm”;
  • OrientationZYX = “0° 0° 0°”;
  • Joint type = “revolute”;
  • Joint axis = “0 0 1”;
  • Joint limits = “-102.5° 102.5°”;
  • Mass = “0.769kg”, max. torque = “2.0Nm”;
  • Principal axis of inertia:
    • positionXYZ = “0.15mm 53.53mm -24.64mm”;
    • orientationZYX = “0° 180° 40°”;
    • inertia = “xx = 0.0006764kg·m² yy = 0.0010573kg·m² zz=0.0006610kg·m²”.

arm joint 5

  • Parent joint = “arm joint 4”;
  • Relative positionXYZ = “0mm 113.6mm 0mm”;
  • OrientationZYX = “0° 0° -90°”;
  • Joint type = “revolute”;
  • Joint axis = “0 0 -1”;
  • Joint limits = “-165° 165°”;
  • Mass = “0.687kg”, max. torque = “1.0Nm”;
  • Principal axis of inertia:
    • positionXYZ = “0mm 1.2mm –16.48mm”;
    • orientationZYX = “0°90°0°”;
    • inertia = “xx = 0.0001934kg·m² yy = 0.0001602kg·m² zz=0.0000689kg·m²”.

Gripper

gripper base frame

  • Parent joint = “arm joint 5”;
  • Relative position = “0mm 0mm 57.16mm”;
  • OrientationZYX = “180° 0° 0°”;
  • Joint type = “fixed”;
  • Mass = “0.199kg”;
  • Principal axis of inertia:
    • positionXYZ = “0mm 0mm 28.9mm”;
    • orientationZYX = “180° 0° 90°”;
    • inertia = “xx = 0.0002324kg·m² yy = 0.0003629kg·m² zz=0.0002067kg·m²”.

gripper left finger joint

  • Parent joint = “gripper base frame”;
  • Relative position = “0mm 8.2mm 0mm”;
  • Joint type = “prismatic”;
  • Joint axis = “0 1 0”;
  • Joint limits = “0mm 12.5mm”;
  • Mass = “0.010kg”.

gripper right finger joint

  • Parent joint = “gripper base frame”;
  • Relative position = “0mm -8.2mm 0mm”;
  • Joint type = “prismatic”;
  • Joint axis = “0 -1 0”;
  • Joint limits = “0mm 12.5mm”;
  • Mass = “0.010kg”.

Download

You can download hi-poly and low-poly KUKA youBot 3D models in different file formats.

Original 3D model, converted from CAD drawings: in Blender format

Simplified 3D model, suitable for visualization: in Blender format, in Collada format

Convexhull approximation of the model above, reduced number of polygons, suitable for collision checking: in STL format

Or simply follow this link to download entire package.


In addition, a model of the KUKA youBot is also available in the Webots package

KUKA provides simplified STEP files of the platform and the arm

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