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WOLFRAM SYSTEM MODELER

SixDOFLeg

Six-degree-of-freedom leg with controlled length

Diagram

In[1]:=

SystemModel["IndustryExamples.IndustrialManufacturing.StewartPlatform.Components.SixDOFLeg"]

Out[1]:=

This component models a six-degree-of-freedom actuated leg with a length determined by a control signal.

	frame_b	Type: Frame_b Description: Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon)
	frame_a	Type: Frame_a Description: Coordinate system fixed to the component with one cut-force and cut-torque (filled rectangular icon)
	desiredLegLength	Type: RealInput Description: 'input Real' as connector

frame_b

Description: Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon)

frame_a

Description: Coordinate system fixed to the component with one cut-force and cut-torque (filled rectangular icon)

desiredLegLength

Description: 'input Real' as connector

	leg	Type: LinearActuator Description: Idealized linear actuator with proportional controller
	spherical	Type: Spherical Description: Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states)
	universal	Type: Universal Description: Universal joint (2 degrees-of-freedom, 4 potential states)

leg

Description: Idealized linear actuator with proportional controller

spherical

Description: Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states)

universal

Description: Universal joint (2 degrees-of-freedom, 4 potential states)

IndustryExamples.IndustrialManufacturing.StewartPlatform.Components

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