WOLFRAM SYSTEMMODELER

GearType2

Motor inertia and gearbox model for r3 joints 4,5,6

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.GearType2"]
Out[1]:=

Information

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

The elasticity and damping in the gearboxes of the outermost three joints of the robot is neglected. Default values for all parameters are given for joint 4.

Parameters (4)

i

Value: -99

Type: Real

Description: Gear ratio

Rv0

Value: 21.8

Type: Torque (N·m)

Description: Viscous friction torque at zero velocity

Rv1

Value: 9.8

Type: Real

Description: Viscous friction coefficient in [Nms/rad] (R=Rv0+Rv1*abs(qd))

peak

Value: 26.7 / 21.8

Type: Real

Description: Maximum static friction torque is peak*Rv0 (peak >= 1)

Connectors (2)

flange_a

Type: Flange_a

Description: Flange of left shaft

flange_b

Type: Flange_b

Description: Flange of right shaft

Components (2)

gear

Type: IdealGear

bearingFriction

Type: BearingFriction

Used in Components (1)

AxisType2

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components

Axis model of the r3 joints 4,5,6