WOLFRAM SYSTEMMODELER

MechanicalStructure

Model of the mechanical part of the r3 robot (without animation)

Diagram

Wolfram Language

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

Information

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

This model contains the mechanical components of the r3 robot (multibody system).

Parameters (4)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled

mLoad

Value: 15

Type: Mass (kg)

Description: Mass of load

rLoad

Value: {0, 0.25, 0}

Type: Position[3] (m)

Description: Distance from last flange to load mass>

g

Value: 9.81

Type: Acceleration (m/s²)

Description: Gravity acceleration

Connectors (6)

axis1

Type: Flange_a

axis2

Type: Flange_a

axis3

Type: Flange_a

axis4

Type: Flange_a

axis5

Type: Flange_a

axis6

Type: Flange_a

Components (15)

world

Type: World

r1

Type: Revolute

r2

Type: Revolute

r3

Type: Revolute

r4

Type: Revolute

r5

Type: Revolute

r6

Type: Revolute

b0

Type: BodyShape

b1

Type: BodyShape

b2

Type: BodyShape

b3

Type: BodyShape

b4

Type: BodyShape

b5

Type: BodyShape

b6

Type: BodyShape

load

Type: BodyShape

Used in Examples (1)

fullRobot

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3

Six degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics