WOLFRAM SYSTEM MODELER

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)