WOLFRAM SYSTEM MODELER
MechanicalStructureModel of the mechanical part of the r3 robot (without animation) |
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SystemModel["EducationExamples.ElectricalEngineering.IndustrialRobot.Components.MechanicalStructure"]
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.
animation |
Value: true Type: Boolean Description: = true, if animation shall be enabled |
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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 |
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world |
Type: World |
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r1 |
Type: Revolute |
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r2 |
Type: Revolute |
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r3 |
Type: Revolute |
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r4 |
Type: Revolute |
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r5 |
Type: Revolute |
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r6 |
Type: Revolute |
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b0 |
Type: BodyShape |
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b1 |
Type: BodyShape |
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b2 |
Type: BodyShape |
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b3 |
Type: BodyShape |
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b4 |
Type: BodyShape |
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b5 |
Type: BodyShape |
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b6 |
Type: BodyShape |
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load |
Type: BodyShape |
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toA |
Type: FixedTranslation |
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toB |
Type: FixedTranslation |
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toA1 |
Type: FixedTranslation |
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bodyBox2 |
Type: BodyBox |
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toB1 |
Type: FixedTranslation |
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bodyBox3 |
Type: BodyBox |
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Origin |
Type: Fixed |
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GroundVisualizer |
Type: FixedShape |
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EducationExamples.ElectricalEngineering.IndustrialRobot 6 degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics. |