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

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

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis2

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis3

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis4

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis5

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis6

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

Components (23)

world

Type: World

Description: World coordinate system + gravity field + default animation definition

r1

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r2

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r3

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r4

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r5

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r6

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

b0

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b1

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b2

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b3

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b4

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b5

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b6

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

load

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

toA

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

toB

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

toA1

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

bodyBox2

Type: BodyBox

Description: Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)

toB1

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

bodyBox3

Type: BodyBox

Description: Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)

Origin

Type: Fixed

Description: Frame fixed in the world frame at a given position

GroundVisualizer

Type: FixedShape

Description: Visualizing an elementary shape with dynamically varying shape attributes (has one frame connector)

Used in Examples (1)

FullRobot

EducationExamples.ElectricalEngineering.IndustrialRobot

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