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PlanarLoops_analytic

Mechanism with three planar kinematic loops and one degree-of-freedom with analytic loop handling (with JointRRR joints)

Information
PARAMETERS
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NameTypeDefault ValueDescription
rhLength[3]{0.5,0,0}Position vector from 'lower left' revolute to 'lower right' revolute joint for all the 3 loops
rvLength[3]{0,0.5,0}Position vector from 'lower left' revolute to 'upper left' revolute joint in the first loop
r1bLength[3]{0.1,0.5,0}Position vector from 'lower right' revolute to 'upper right' revolute joint in the first loop
r1aLength[3]r1b + rh - rvPosition vector from 'upper left' revolute to 'upper right' revolute joint in the first loop
r2bLength[3]{0.1,0.6,0}Position vector from 'lower right' revolute to 'upper right' revolute joint in the second loop
r2aLength[3]r2b + rh - r1bPosition vector from 'upper left' revolute to 'upper right' revolute joint in the second loop
r3bLength[3]{0,0.55,0}Position vector from 'lower right' revolute to 'upper right' revolute joint in the third loop
r3aLength[3]r3b + rh - r2bPosition vector from 'upper left' revolute to 'upper right' revolute joint in the third loop