Inside this folder are the description files for a Generic VSS Robot
- generic_vss_robot.urdf - URDF description of the robot, generated with SW2URDF extension for SolidWorks
- generic_vss_robot.xacro - Main file that imports all other files
- generic_vss_robot.gazebo - Gazebo-specific configurations i.e. physical properties and colors configuration
- generic_vss_team.gazebo - Different color configurations for both teams (Yellow/Blue) and each robot (0..2) inside the team.
- motor.xacro - Configuration of actuator and transmission element for motor control with hardware_interface lib from ros_control
- generic_vss_robot.pdf - Detailed blueprint from the 3D model
Inside the meshes/ folder, are the .stl files for each part of the robot and inside media/materials/scripts/ are OGRE scripts to define different colors and textures.
| Parameter | Value | Unit |
|---|---|---|
| Wheel radius | 25 | mm |
| Wheel thickness | 8 | mm |
| Wheels separation | 55 | mm |
| Wheels density | 1150 | kg/m³ |
| Wheels mass (each) | 18 | g |
| Wheels material | Nylon | - |
| Body material | 50% infill ABS | - |
| Body density | 510 | kg/m³ |
| Total height | 62 | mm |
| Total width | 78 | mm |
| Total length | 78 | mm |
| Total mass | 180 | g |
| Total inertia momentum Izz | 0.113 | g m² |
The model's motor is inspired in Pololu's 50:1 Micro Metal Gearmotor in order to achieve realistic values.
| Parameter | Value | Unit |
|---|---|---|
| Motor max torque | 73 | mN m |
| Robot max linear acceleration | 16 | m/s² |
| Robot max angular acceleration | 1420 | rad/s² |
| Motor max speed | 650 | RPM |
| Robot max linear speed | 1.7 | m/s |
| Robot max angular speed | 9.8 | rad/s |
The values were estimated from the relations derived neglecting the wheel's momento of inertia in y axis (motor's rotation axis)
Where "S wheels" is the separation between both wheels