WOLFRAM SYSTEM MODELER

MechanicalStructure

Model of the mechanical part of the r3 robot (without animation)

Diagram

Wolfram Language

In[1]:=
SystemModel["EducationExamples.ElectricalEngineering.IndustrialRobot.Components.MechanicalStructure"]
Out[1]:=

Information

 

Industrial Robot: Mechanical Structure

 

Description

This model contains the mechanical parts of the industrial robot. It is a modified version of MechanicalStructure from the Modelica Standard Library, with added visualization components.

 

Parameters (4)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled

mLoad

Value: 15

Type: Mass (kg)

Description: Mass of load

rLoad

Value: {0, 0.25, 0}

Type: Position[3] (m)

Description: Distance from last flange to load mass>

g

Value: 9.81

Type: Acceleration (m/s²)

Description: Gravity acceleration

Connectors (6)

axis1

Type: Flange_a

axis2

Type: Flange_a

axis3

Type: Flange_a

axis4

Type: Flange_a

axis5

Type: Flange_a

axis6

Type: Flange_a

Components (23)

world

Type: World

r1

Type: Revolute

r2

Type: Revolute

r3

Type: Revolute

r4

Type: Revolute

r5

Type: Revolute

r6

Type: Revolute

b0

Type: BodyShape

b1

Type: BodyShape

b2

Type: BodyShape

b3

Type: BodyShape

b4

Type: BodyShape

b5

Type: BodyShape

b6

Type: BodyShape

load

Type: BodyShape

toA

Type: FixedTranslation

toB

Type: FixedTranslation

toA1

Type: FixedTranslation

bodyBox2

Type: BodyBox

toB1

Type: FixedTranslation

bodyBox3

Type: BodyBox

Origin

Type: Fixed

GroundVisualizer

Type: FixedShape

Used in Examples (1)

FullRobot

EducationExamples.ElectricalEngineering.IndustrialRobot

6 degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics.