WOLFRAM SYSTEM MODELER

SixDOFLeg

Six-degree-of-freedom leg with controlled length

Diagram

Wolfram Language

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

Information

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

Parameters (5)

initialLength

Value: 1

Type: Length (m)
maxForce

Value: 500

Type: Force (N)
maxSpeed

Value: 0.2

Type: Velocity (m/s)
legDirection

Value: {0, 1, 0}

Type: Real[3]

initialLengthFixed

Value: false

Type: Boolean

Connectors (3)

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

Components (3)

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)

Used in Components (1)

Legs

IndustryExamples.IndustrialManufacturing.StewartPlatform.Components

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