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Generated Robot Spec

2-axis SCARA robot for high speed assembly

SCARA Robot (2-DOF, High Speed)

Prompt "2-axis SCARA robot for high speed assembly"
Open in Generator →
https://kinematos.polsia.app/r/2-axis-scara-robot-for-high-speed-assembly-qftwj

Spec

2-axis SCARA robot for high speed assembly
Base Type Fixed
DOF ••••
End Effector none
Reach 0.4m
Payload 1kg

3D Preview — Click "Joints ▸" to pose

URDF Output

class="urdf-tag"><robot name="scara_robot">
  <!-- Base -->
  class="urdf-tag"><link name="base_link">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.08" radius="0.06"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>

  <!-- Link 1: Upper arm -->
  class="urdf-tag"><link name="link_1">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><box size="0.30 0.04 0.04"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_theta1" type="revolute">
    class="urdf-tag"><parent link="base_link"/>
    class="urdf-tag"><child link="link_1"/>
    class="urdf-tag"><origin xyz="0 0 0.08" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 0 1"/>
    class="urdf-tag"><limit lower="-3.14" upper="3.14"/>
  class="urdf-tag"></joint>

  <!-- Link 2: Forearm -->
  class="urdf-tag"><link name="link_2">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><box size="0.25 0.03 0.03"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_theta2" type="revolute">
    class="urdf-tag"><parent link="link_1"/>
    class="urdf-tag"><child link="link_2"/>
    class="urdf-tag"><origin xyz="0.30 0 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 0 1"/>
    class="urdf-tag"><limit lower="-2.6" upper="2.6"/>
  class="urdf-tag"></joint>

  <!-- End Effector -->
  class="urdf-tag"><link name="end_effector">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.06" radius="0.02"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_ee" type="fixed">
    class="urdf-tag"><parent link="link_2"/>
    class="urdf-tag"><child link="end_effector"/>
    class="urdf-tag"><origin xyz="0.25 0 0" rpy="0 0 0"/>
  class="urdf-tag"></joint>
class="urdf-tag"></robot>