WOLFRAM SYSTEMMODELER

PlanarLoops_analytic

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

Diagram

Wolfram Language

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Click for copyable input
SystemModel["Modelica.Mechanics.MultiBody.Examples.Loops.PlanarLoops_analytic"]
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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.

model Examples.Loops.PlanarLoops2

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

rv

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

r1b

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

r1a

Value: r1b + rh - rv

Type: Length[3] (m)

Description: Position vector from 'upper left' revolute to 'upper right' revolute joint in the first loop

r2b

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

r2a

Value: r2b + rh - r1b

Type: Length[3] (m)

Description: Position vector from 'upper left' revolute to 'upper right' revolute joint in the second loop

r3b

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

r3a

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:

jointRRR1

Type: JointRRR

Description:

rev

Type: Revolute

Description:

rod1

Type: FixedTranslation

Description:

rod2

Type: FixedTranslation

Description:

body1

Type: Body

Description:

position

Type: Position

Description:

sine

Type: Sine

Description:

jointRRR2

Type: JointRRR

Description:

rod3

Type: FixedTranslation

Description:

body2

Type: Body

Description:

jointRRR3

Type: JointRRR

Description:

rod4

Type: FixedTranslation

Description:

body3

Type: Body

Description:

mounting1D

Type: Mounting1D

Description: