README.md

From Meshes to Assembly

The meshes (STL) for the motors and brackets are identical to the arm of Bioloid from Robotis and obtained from Thingiverse by I-Bioloid. The meshes were imported into Fusion360, converted to bodies with material properties and assembled (see articles below for Fusion360 help). Follow the links to download the parts.

• ax12_box (Dynamixel motor)

• f2 (Small Bracket)

• f3 (Joint)

• f4 (Long Bracket)

• f53 (Base-mount)

• finger_fixed (adapted from turtlebot_finger.stl)

• finger_moving (adapted from turtlebot_finger.stl)

• mount

Download the full assembly here.

URDF

The assembly can then be converted into the URDF file using fusion2urdf which exports:

• .urdf file of the model
• .launch and .yaml files to simulate the robot in Gazebo
• .stl files of the model

Please follow instructions in README.

Help

Useful links used to prepare this package:

• ROS URDF
  • Tutorials
• Building URDF for CRANE
• Fusion360
  • Scale bodies, components, or sketches
  • How to Convert .STL to a Solid Model in Fusion 360
  • Edit Material Properties
  • Manually add joint origins
  • How To Assemble Objects