WOLFRAM SYSTEM MODELER

Platform

Hexagonal 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.