Create URDF for Leobot 2.0
Closed this issue · 12 comments
Robot body 2D drawings
Mass of the body is about 10kg.
Wheel will be connected on the bottom of the robot
Specifications of the wheels:
Number of wheels:4
Diameter of each wheel:100mm
Width of each wheel:50m
Number of Rollers each wheel:9
Number of Plates each wheel:2
Roller Bearing:Ball bearing
Body material:Aluminium alloy
Roller material:PP+PE
Spacer material:Nylon
Length of roller:19mm
Net weight:400g X 4
@MaxZhaloba I assigned, as we agreed, to help You with this issue
Thanks :) I've already started reading turtorials and watching a video presentation on this.
If you have this info, feel free to add the requirements for desired look of Leobot 2.0 e.g. size and should it use a 4-wheeled mecanum base? I'll begin with something very simple and improve it as I learn.
Link to Tutorials https://github.com/ros-ukraine/leobot/wiki/FAQ#tutorials-on-urdf
@ros-ukraine/leobot , please, have a look at the CAD model of the Leobot 2.0 equipped with LIDAR and two cameras
Leobot.PDF
@LyubomyrD aluminium profile is MS40+ В - 40x40
@LyubomyrD this is what I got in my PDF viewer
This is what I am getting
@AndriyPt please, have a look at the model on GrabCAD https://grabcad.com/library/leobot-2-0-1
@LyubomyrD, I've measured the sizes of the base in PDF file and they appear to be different from the sizes specified by @AndriyPt in drawing above.
Comparison of sizes, in mm:
| Dimension | PDF size | Drawing size |
|---|---|---|
| Base width | 460 | 500 |
| Base depth | 500 | 500 |
| Base height | 260 | 300 |
| Mount height | 1430 | 1450 |
| Mount offset | 290 | 290 |
Which values should we take?
@MaxZhaloba great that You spotted this out! Thank You.
Let us follow the original drawings of @AndriyPt
Since we do not use the CAD model of the body at this stage, I think we have to focus on more urgent tasks. I will be able to update the size of the Leobot later.