WOLFRAM SYSTEM MODELER

Legs

Set of six actuated six-degree-of-freedom legs

Diagram

Wolfram Language

In[1]:=
SystemModel["IndustryExamples.IndustrialManufacturing.StewartPlatform.Components.Legs"]
Out[1]:=

Information

 

Legs

 

Description

This component models a set of six six-degree-of-freedom legs with controlled lengths determined by an array of six control signals.

View the model diagram for this model.

 

Parameters (3)

initialLengths

Value: {0.170350338674353, 0.170350338674353, 0.170350338674353, 0.170350338674353, 0.170350338674353, 0.170350338674353}

Type: Length[6] (m)

legDirections

Value: {{-0.435444956563936, 0.880538313966868, 0.187189656336606}, {0.379833475995148, 0.880538313966868, -0.283511566165877}, {0.0556114805687882, 0.880538313966868, -0.470701222502483}, {0.0556114805687882, 0.880538313966868, 0.470701222502483}, {0.379833475995148, 0.880538313966868, 0.283511566165877}, {-0.435444956563936, 0.880538313966868, -0.187189656336606}}

Type: Real[6,3]

initialLengthsFixed

Value: false

Type: Boolean

Connectors (3)

desiredLegLengths

Type: RealInput[6]

frame_b

Type: Frame_b[6]

frame_a

Type: Frame_a[6]

Components (6)

leg1

Type: SixDOFLeg

leg2

Type: SixDOFLeg

leg3

Type: SixDOFLeg

leg4

Type: SixDOFLeg

leg5

Type: SixDOFLeg

leg6

Type: SixDOFLeg

Used in Examples (1)

StewartPlatformControlScenario

IndustryExamples.IndustrialManufacturing.StewartPlatform

Model of six-degree-of-freedom Stewart platform whose position is controlled by position setpoints.