how to create a URDF file of the model below

image description sorry,every one. I am a beginner .

Now I want to creat a URDF file. But it is not easy to do such thing, I do not kown how to define the links and jionts. It is diffirent from the Serial robots. Can anyone serve examples or tutorials that I can learn and use? Thanks all that help me.

I use ubuntu 14.04 and ROS indigo

Asked by warmer on 2016-03-28 01:16:52 UTC

Comments

Your image is not visible. I'll give you some karma you so you can upload it instead of link to it.

Asked by gvdhoorn on 2016-03-28 06:23:05 UTC

thankyou very much

Asked by warmer on 2016-03-29 06:58:55 UTC

Can anyone give me a help？

Asked by warmer on 2016-03-30 10:18:59 UTC

Answers

Have you checked out the wiki/urdf/Tutorials? The Learning URDF Step by Step tutorials should give you something to start with.

Note that URDF cannot model parallel robots, so you'll either have to ignore that link (ie: not model it), or use a mimic joint for it.

Asked by gvdhoorn on 2016-03-30 10:32:19 UTC

Comments

Thanks for your answer. But what does the "mimic joint" mean? what should i do to finish this work?

Asked by warmer on 2016-03-31 02:25:20 UTC

See wiki/urdf/XML/joint.

Asked by gvdhoorn on 2016-03-31 02:41:49 UTC

I have seen it，but there is little message about .

Asked by warmer on 2016-03-31 06:44:46 UTC

Download and follow this book "Learning ROS for Robotic programming" where all necessary information including URDF file creation is explained .

Asked by Ajith kumar on 2016-03-30 10:34:55 UTC

Comments

I have seen it,but i can not find anything about the way to creat URDF of parallel robots or hybrid robots

Asked by warmer on 2016-03-31 07:57:02 UTC