WOLFRAM SYSTEM MODELER
PlatformHexagonal six-degree-of-freedom surface of Stewart platform |
 |
Diagram
Wolfram Language
In[1]:=
SystemModel["IndustryExamples.IndustrialManufacturing.StewartPlatform.Components.Platform"]
Out[1]:=
Information
This component models the hexagonal six-degree-of-freedom surface of a Stewart platform.
Parameters (4)
| platformHeight |
Value: 0.15 Type: Length (m) |
|---|---|
| legPlatformRelativePositions |
Value: {{0.0707106781186548, 0, 0.0707106781186548}, {0.0258819045102521, 0, 0.0965925826289068}, {-0.0965925826289068, 0, 0.0258819045102521}, {-0.0965925826289068, 0, -0.0258819045102521}, {0.0258819045102521, 0, -0.0965925826289068}, {0.0707106781186548, 0, -0.0707106781186548}} Type: Real[6,3] |
| inertiaTensor |
Value: {{0.00344801, 0, 0}, {0, 0.00686603, 0}, {0, 0, 0.00344801}} Type: Real[3,3] |
| mass |
Value: 1.8 Type: Real |
Connectors (1)
 |
frame_b |
Type: Frame_b[6] Description: Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon) |
|---|
Components (7)
 |
leg1Attachment |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
|---|---|---|
|
leg2Attachment |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
|
leg3Attachment |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
|
leg4Attachment |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
|
leg5Attachment |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
|
leg6Attachment |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
 |
platform |
Type: BodyShape Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states) |
Used in Examples (1)
 |
StewartPlatformControlScenario IndustryExamples.IndustrialManufacturing.StewartPlatform Model of six-degree-of-freedom Stewart platform whose position is controlled by position setpoints. |