WOLFRAM SYSTEM MODELER

# PlanarLoops_analytic

Mechanism with three planar kinematic loops and one degree-of-freedom with analytic loop handling (with JointRRR joints)

# Wolfram Language

In[1]:=
`SystemModel["Modelica.Mechanics.MultiBody.Examples.Loops.PlanarLoops_analytic"]`
Out[1]:=

# Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

It is demonstrated how the Modelica.Mechanics.MultiBody.Joints.Assemblies.JointRRR joint can be used to solve the non-linear equations of coupled planar loops analytically. In the mechanism below no non-linear equation occurs any more from the tool view, since these equations are solved analytically in the JointRRR joints. For more details, see MultiBody.UsersGuide.Tutorial.LoopStructures.AnalyticLoopHandling.

In the following figure the parameter vectors of this example are visualized in the animation view.

# Parameters (8)

rh Value: {0.5, 0, 0} Type: Length[3] (m) Description: Position vector from 'lower left' revolute to 'lower right' revolute joint for all the 3 loops Value: {0, 0.5, 0} Type: Length[3] (m) Description: Position vector from 'lower left' revolute to 'upper left' revolute joint in the first loop Value: {0.1, 0.5, 0} Type: Length[3] (m) Description: Position vector from 'lower right' revolute to 'upper right' revolute joint in the first loop Value: r1b + rh - rv Type: Length[3] (m) Description: Position vector from 'upper left' revolute to 'upper right' revolute joint in the first loop Value: {0.1, 0.6, 0} Type: Length[3] (m) Description: Position vector from 'lower right' revolute to 'upper right' revolute joint in the second loop Value: r2b + rh - r1b Type: Length[3] (m) Description: Position vector from 'upper left' revolute to 'upper right' revolute joint in the second loop Value: {0, 0.55, 0} Type: Length[3] (m) Description: Position vector from 'lower right' revolute to 'upper right' revolute joint in the third loop Value: r3b + rh - r2b Type: Length[3] (m) Description: Position vector from 'upper left' revolute to 'upper right' revolute joint in the third loop

# Components (15)

world Type: World Description: World coordinate system + gravity field + default animation definition Type: JointRRR Description: Planar revolute - revolute - revolute joint aggregation (no constraints, no potential states) Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange) Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a Type: Body Description: Rigid body with mass, inertia tensor and one frame connector (12 potential states) Type: Position Description: Forced movement of a flange according to a reference angle signal Type: Sine Description: Generate sine signal Type: JointRRR Description: Planar revolute - revolute - revolute joint aggregation (no constraints, no potential states) Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a Type: Body Description: Rigid body with mass, inertia tensor and one frame connector (12 potential states) Type: JointRRR Description: Planar revolute - revolute - revolute joint aggregation (no constraints, no potential states) Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a Type: Body Description: Rigid body with mass, inertia tensor and one frame connector (12 potential states) Type: Mounting1D Description: Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true)