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Stewart Platform: how can i connect multiple joints to the same child link

asked 2019-01-24 14:35:52 -0500

Abdel gravatar image

Hi,

I think my problem is similar to this post already posted in 2015 here is the link

I want to simulate a robot in Gazebo. This robot contains a kind of delta machine. It consists in :

• three cylinders,

• three conrods, linked with the pistons rods (tige_verin) on one side and with one plate (plate_camera_support) on the other side,

• a plate (plate_camera_support). My objective is to control the altitude and the orientation of the plate (plate_camera_support) around the X axis and Y axis.

image description

Here is the tf_tree of my URDF model. But unfortunately, I’m not able to introduce the last 2 joints of the model (in red on the picture below). Is the last answer still relevant? Is there a trick to face this « problem » ?

image description

PS: I’m working on Ubuntu 16.04 LTS and ROS Kinetic. Thanks in Advance

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lucasw gravatar imagelucasw ( 2019-01-24 18:23:17 -0500 )edit

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answered 2019-01-25 02:54:41 -0500

gvdhoorn gravatar image

Unless this is a Gazebo question (in which case it should have been posted on answers.gazebosim.org and SDF can be used) the situation described in #q244903 and #q216101 hasn't changed. That means it's not possible to model such a platform in URDF (or at least: you cannot model the multiple-parent constraint).

The answer posted by @lucasw in #q244903 would seem to be a nice work-around.

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Asked: 2019-01-24 14:35:52 -0500

Seen: 55 times

Last updated: Jan 25