| A | B | C | D | E | F | G | H | I | J | K | L | M | N | O | P | Q | R | S | T | U | V | W | X | Y | Z | AA | AB | AC | AD | AE | AF | AG | AH | AI | AJ | AK | AL | ||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 | リンク名称 | ID | ワールド座標系ホームポジション位置 | ワールド座標系リンク間相対距離 | ワールド座標系ホームポジション姿勢 | 質量[g] | ローカル座標系質量位置 | ローカル座標系慣性テンソル(重心) | ハードウェア可動範囲 | 保護設定可動範囲 | ホームポジション角度 | 回転軸方向 | サーボモータ種類 | トルク定数 | サーボモータID | サーボモータ可動範囲 | 通信速度 | Return Delay Time | Operation Mode | ||||||||||||||||||||
2 | 自分リンク | 妹リンク | 子リンク | 親リンク | x[mm] | y[mm] | z[mm] | x[mm] | y[mm] | z[mm] | X[deg] | Y[deg] | Z[deg] | m[g] | x[mm] | y[mm] | z[mm] | Ixx[gmm^2] | Ixy[gmm^2] | Iyy[gmm^2] | Ixz[gmm^2] | Iyz[gmm^2] | Izz[gmm^2] | θ1[deg] | θ2[deg] | θ1[deg] | θ2[deg] | サーボ指令値[deg] | ±XYZ | 型番 | [Nm/A] | ID | θ1[-] | θ2[-] | bps | - | - | ||
3 | Sciurus17_Base | 1 | - | 2 | - | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 1722.937 | -24.012 | 0.139 | 59.566 | 6398092.663 | -6808.969 | 7611664.357 | -331509.04 | 2026.354 | 6331936.461 | - | - | - | - | - | - | - | - | - | - | - | - | |||
4 | Sciurus17_Body | 2 | 24 | 3 | 1 | 0 | 0 | 131.5 | 0 | 0 | 131.5 | 0 | 0 | 0 | 1482.929 | 57.11 | 0.372 | 238.229 | 15601031.58 | -15890.903 | 13969734.5 | -3805596.494 | -20695.221 | 8327993.097 | -110 | 110 | -107 | 107 | 180 | Z+ | XM540-W270 | 2.409 | 18 | 831 | 3265 | 3Mbps | 0 | 3 | |
5 | Sciurus17_Neck1 | 3 | 5 | 4 | 2 | 80.83 | 0 | 471 | 80.83 | 0 | 339.5 | 0 | 0 | 0 | 168 | -0.022 | 0.029 | 40.86 | 63143.268 | -0.078 | 66522.419 | -126.072 | 187.375 | 32744.236 | -165 | 165 | -160 | 160 | 180 | Z+ | XM430-W350 | 1.783 | 19 | 228 | 3868 | 3Mbps | 0 | 3 | |
6 | Sciurus17_Neck2 | 4 | 23 | - | 3 | 80.83 | 0 | 525 | 0 | 0 | 54 | 90 | 0 | 0 | 312.172 | 19.979 | 78.687 | 0.151 | 964350.46 | -56112.026 | 1027677.585 | -731.103 | 1684.659 | 1065891.198 | -90 | 90 | -90 | 60 | 180 | Y- | XM430-W350 | 1.783 | 20 | 1024 | 2731 | 3Mbps | 0 | 3 | |
7 | Sciurus17_R_Link1 | 5 | 14 | 6 | 2 | 80.83 | -96.5 | 420 | 80.83 | -96.5 | 288.5 | 90 | 0 | 0 | 258 | -0.656 | -0.264 | 46.367 | 176217.476 | -5.425 | 179207.793 | 586.979 | -166.297 | 87950.071 | -160 | 160 | -157 | 157 | 180 | Y- | XM540-W270 | 2.409 | 2 | 262 | 3834 | 3Mbps | 0 | 3 | |
8 | Sciurus17_R_Link2 | 6 | - | 7 | 5 | 80.83 | -160.6 | 420 | 0 | -64.1 | 0 | 0 | 90 | 0 | 134 | 0.033 | -33.96 | -0.185 | 172046.031 | -119.176 | 98834.156 | -535.109 | 580.743 | 136915.218 | -90 | 90 | -90 | 90 | 180 | X- | XM540-W270 | 2.409 | 3 | 1024 | 3072 | 3Mbps | 0 | 3 | |
9 | Sciurus17_R_Link3 | 7 | - | 8 | 6 | 80.83 | -225.6 | 420 | 0 | -65 | 0 | 90 | 0 | 0 | 443 | -13.791 | 0.245 | 113.391 | 2336253.636 | -1190.372 | 2414711.907 | -75998.279 | -8024.912 | 236305.543 | -160 | 160 | -157 | 157 | 180 | Y- | XM430-W350 | 1.783 | 4 | 262 | 3834 | 3Mbps | 0 | 3 | |
10 | Sciurus17_R_Link4 | 8 | - | 9 | 7 | 80.83 | -410.6 | 420 | 0 | -185 | 0 | 0 | 0 | 0 | 241.66 | -8.881 | -75.749 | 0.038 | 603280.74 | -6670.94 | 143154.3 | 250.846 | -2309.247 | 598152.333 | 0 | 156.2 | 0 | 156.2 | 180 | Z+ | XM540-W150 | 1.659 | 5 | 2048 | 3825 | 3Mbps | 0 | 3 | |
11 | Sciurus17_R_Link5 | 9 | 25 | 10 | 8 | 80.83 | -531.6 | 420 | 0 | -121 | 0 | 90 | 0 | 0 | 224 | 13.531 | -0.304 | 70.369 | 294726.731 | -4809.196 | 290568.087 | -21387.985 | 13192.269 | 125378.656 | -160 | 160 | -157 | 157 | 180 | Y- | XM430-W350 | 1.783 | 6 | 262 | 3834 | 3Mbps | 0 | 3 | |
12 | Sciurus17_R_Link6 | 10 | - | 11 | 9 | 80.83 | -660.6 | 420 | 0 | -129 | 0 | 0 | 0 | 0 | 140 | -6.156 | 3.583 | 0.755 | 39499.661 | -2921.88 | 60684.342 | -612.042 | 357.397 | 73112.015 | -120 | 60 | -120 | 60 | 180 | Z+ | XM430-W350 | 1.783 | 7 | 683 | 2731 | 3Mbps | 0 | 3 | |
13 | Sciurus17_R_Link7 | 11 | - | 12 | 10 | 80.83 | -703.6 | 420 | 0 | -43 | 0 | 90 | 0 | 0 | 121 | -0.118 | 1.006 | 20.65 | 32600.928 | -69.84 | 41969.484 | -254.224 | -409.16 | 43040.018 | -170 | 170 | -167 | 167 | 180 | Y- | XM430-W350 | 1.783 | 8 | 148 | 3948 | 3Mbps | 0 | 3 | |
14 | Sciurus17_R_HandA | 12 | 13 | - | 11 | 68.83 | -727.6 | 420 | -12 | -24 | 0 | 0 | 0 | 0 | 15.8 | 2.649 | -26.849 | 3.757 | 10192.75 | -197.895 | 5023.728 | 98.609 | -554.407 | 6322.202 | 0 | 30 | -5 | 90 | 180 | Z+ | XM430-W350 | 1.783 | 9 | 1991 | 3072 | 3Mbps | 0 | 3 | |
15 | Sciurus17_R_HandB | 13 | - | - | 11 | 80.83 | -751.6 | 420 | 12 | -24 | 0 | 0 | 0 | 0 | 13.9 | -2.707 | -30.901 | 2.845 | 7483.7 | 361.283 | 4088.581 | -63.385 | -228.226 | 4372.991 | 0 | 30 | -5 | 90 | 180 | Z+ | - | - | - | - | - | - | - | ||
16 | Sciurus17_L_Link1 | 14 | - | 15 | 2 | 80.83 | 96.5 | 420 | 80.83 | 96.5 | 288.5 | -90 | 0 | 0 | 258 | -0.537 | 0.27 | 46.27 | 170007.992 | 13.313 | 175079.881 | 454.301 | 159.916 | 85282.27 | -160 | 160 | -157 | 157 | 180 | Y+ | XM540-W270 | 2.409 | 10 | 262 | 3834 | 3Mbps | 0 | 3 | |
17 | Sciurus17_L_Link2 | 15 | - | 16 | 14 | 80.83 | 160.6 | 420 | 0 | 64.1 | 0 | 0 | 90 | 0 | 134 | -0.07 | 33.946 | -0.199 | 172421.741 | -98.964 | 99076.413 | -266.684 | -418.743 | 137151.205 | -90 | 90 | -90 | 90 | 180 | X- | XM540-W270 | 2.409 | 11 | 1024 | 3072 | 3Mbps | 0 | 3 | |
18 | Sciurus17_L_Link3 | 16 | - | 17 | 15 | 80.83 | 225.6 | 420 | 0 | 65 | 0 | -90 | 0 | 0 | 443 | -13.943 | -0.241 | 113.533 | 2343035.312 | 1178.732 | 2422253.94 | -72414.462 | 8074.759 | 237122.927 | -160 | 160 | -157 | 157 | 180 | Y+ | XM430-W350 | 1.783 | 12 | 262 | 3834 | 3Mbps | 0 | 3 | |
19 | Sciurus17_L_Link4 | 17 | - | 18 | 16 | 80.83 | 410.6 | 420 | 0 | 185 | 0 | 0 | 0 | 0 | 241.66 | -8.904 | 75.732 | 0.033 | 603838.474 | 6315.625 | 143107.114 | 116.002 | 2112.212 | 598666.56 | -156.2 | 0 | -156.2 | 0 | 180 | Z+ | XM540-W150 | 1.659 | 13 | 271 | 2048 | 3Mbps | 0 | 3 | |
20 | Sciurus17_L_Link5 | 18 | 26 | 19 | 17 | 80.83 | 531.6 | 420 | 0 | 121 | 0 | -90 | 0 | 0 | 224 | 13.732 | 0.348 | 71.158 | 286973.35 | 4321.461 | 282370.572 | -19101.45 | -13052.23 | 125680.836 | -160 | 160 | -157 | 157 | 180 | Y+ | XM430-W350 | 1.783 | 14 | 262 | 3834 | 3Mbps | 0 | 3 | |
21 | Sciurus17_L_Link6 | 19 | - | 20 | 18 | 80.83 | 660.6 | 420 | 0 | 129 | 0 | 0 | 0 | 0 | 140 | -6.173 | -3.627 | 0.744 | 39902.954 | 3014.503 | 61099.851 | -613.647 | -361.668 | 73723.447 | -60 | 120 | -60 | 120 | 180 | Z+ | XM430-W350 | 1.783 | 15 | 1365 | 3413 | 3Mbps | 0 | 3 | |
22 | Sciurus17_L_Link7 | 20 | - | 21 | 19 | 80.83 | 703.6 | 420 | 0 | 43 | 0 | 90 | 0 | 0 | 121 | -0.118 | 1.074 | -20.65 | 32593.608 | -72.866 | 41969.484 | 254.224 | 436.76 | 43032.698 | -170 | 170 | -167 | 167 | 180 | Y+ | XM430-W350 | 1.783 | 16 | 148 | 3948 | 3Mbps | 0 | 3 | |
23 | Sciurus17_L_HandA | 21 | 22 | - | 20 | 68.83 | 727.6 | 420 | -12 | 24 | 0 | 0 | 0 | 0 | 15.8 | 2.649 | 26.849 | 3.757 | 10192.695 | 197.91 | 5023.727 | 98.601 | 554.38 | 6322.142 | -30 | 0 | -90 | 5 | 180 | Z+ | XM430-W350 | 1.783 | 17 | 1024 | 2105 | 3Mbps | 0 | 3 | |
24 | Sciurus17_L_HandB | 22 | - | - | 20 | 80.83 | 751.6 | 420 | 12 | 24 | 0 | 0 | 0 | 0 | 13.9 | -3.008 | 30.851 | 2.845 | 7483.736 | -361.268 | 4088.583 | -63.393 | 228.245 | 4373.032 | -30 | 0 | -90 | 5 | 180 | Z+ | - | - | - | - | - | - | - | ||
25 | cameraHead_link | 23 | - | - | 3 | 162.615 | 20 | 616 | 81.785 | 20 | 91 | 0 | 0 | 0 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
26 | cameraBreast_link | 24 | - | - | 1 | 114.576 | 0 | 349.159 | 114.576 | 0 | 217.659 | 0 | 60 | 0 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
27 | Sciurus17_R_Link5_ARmarker | 25 | - | - | 8 | 127.53 | -531.6 | 513 | 46.7 | 0 | 93 | 0 | 0 | 0 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
28 | Sciurus17_L_Link5_ARmarker | 26 | - | - | 17 | 127.53 | 531.6 | 513 | 46.7 | 0 | 93 | 0 | 0 | 0 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
29 | Sciurus17__Body_Dual | - | - | - | - | - | - | - | - | - | - | -110 | 110 | -107 | 107 | - | Z+ | XM540-W270 | 2.409 | 21 | 831 | 3265 | 3Mbps | 0 | 3 | ||||||||||||||
30 | Sciurus17_HipPitch | - | - | - | - | - | - | - | - | - | - | -10 | 90 | 0 | 90 | - | Y- | PH54-200-S500 | 2.409 | 22 | 0 | 250961 | 3Mbps | 0 | 3 | ||||||||||||||
31 | 右手系、正面はX方向 | ||||||||||||||||||||||||||||||||||||||
32 | 756.36 | ||||||||||||||||||||||||||||||||||||||
33 | |||||||||||||||||||||||||||||||||||||||
34 | |||||||||||||||||||||||||||||||||||||||
35 | |||||||||||||||||||||||||||||||||||||||
36 | |||||||||||||||||||||||||||||||||||||||