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How to add 2 revolute joints (universal joint) in between 2 links in urdf? [closed]

asked 2022-01-25 05:49:39 -0600

aarsh_t gravatar image

updated 2022-01-25 05:50:23 -0600

I wanted to know if it is possible to add 2 revolute joints at same location in between 2 links. I was just curious to know how to design human shoulder and arm, as it has multiple DoF at several joints.

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Closed for the following reason question is not relevant or outdated by aarsh_t
close date 2022-03-22 09:20:18.196885

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answered 2022-01-25 08:17:27 -0600

osilva gravatar image

updated 2022-01-25 08:19:15 -0600

Hi @aarsh_t, I took this example from NAO URDF description as an example of a shoulder with 2 revolute joints for one possible solution: https://github.com/ros-naoqi/nao_robo...

Notice there are 2 joints of type revolute: RShoulderPitch and RShoulderRoll for the right shoulder.

  • RShoulderPitch joint with parent torso and child RShoulder

  • RShoulderRoll joint with parent RShoulder and child RBicep

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I see, I was rather looking for something like universal joint at one point with only 2 links rather than adding one extra link in between because I already have model with kind of ball-socket joint. During my search I found out it is not possible to have 2 perpendicular axis joint in gazebo for the same links.

aarsh_t gravatar image aarsh_t  ( 2022-01-26 00:01:21 -0600 )edit

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Asked: 2022-01-25 05:49:39 -0600

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Last updated: Jan 25 '22