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I've tried to create a URDF model of an arm robot similar to the following links using Solidworks to URDF plugin. This plugin creates a hierarchy relation between joint and links in any robot mechanism

https://grabcad.com/library/robot-arm-assembly-1

however, I've noticed this robot arm style has a couple of interaction links & joints that is not easy to make simple child-parent tree links. I've trying to extract the child-parent link relations according to the following image enter image description here

for example, the child-parent relation of link 1 is not clear for me, however, I made the following child-parent tree according to that image I really appreciated any tip that helps me verify my design enter image description here

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  • $\begingroup$ How do we generate the URDF without using the tree since we have a four bar linkage? $\endgroup$
    – Allard
    Commented Nov 21 at 12:28

1 Answer 1

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You're not going to get a parent-child relationship with this because it's not a kinematic tree. You've got a four-bar linkage, which is closed chain linkage. The angle that Link 2 makes with Link 1 depends on the angle at AxisX1 AND the distance from AxisX1 to AxisX3 AND the length of bar1 AND the length of link1 AND the distance from Axis4 to AxisX7.

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