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

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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.

Terms and Conditions of Use

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