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How can I fix the connections in a bar linkage of a robotic arm assembly exported as an URDF?
Franklin_Lopez
Member Posts: 2 ✭
Hello, I'm a college student with a robotic project for educational purposes and I'm trying to make a functional URDF file that moves the same way my assembly does, however after I export it as an URDF I see some issues between the revolute mates between the bars in the arm assembly.
Since the bars need a revolute mate in each end they depend on two joints which is something impossible in a URDF due to the parent-child link relationship in a joint. With this in mind, I am assuming Onshape creates placeholder links called 'loop_closure_link' that were made with the only purpose of closing the loop of the bar linkage.
The problem is that when I upload the exported folder to an urdf visualizer, some of the links are disconnected and the joint sliders break the assembly.
Can someone help me fix this?
The following document includes all the parts from the assembly in the first folder, they come from the product called MeArm:
