WOLFRAM SYSTEMMODELER

MechanicalStructure

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

Diagram

Wolfram Language

In[1]:=
Click for copyable input
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).

Connectors (6)

axis1

Type: Flange_a

Description:

axis2

Type: Flange_a

Description:

axis3

Type: Flange_a

Description:

axis4

Type: Flange_a

Description:

axis5

Type: Flange_a

Description:

axis6

Type: Flange_a

Description:

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

Components (15)

world

Type: World

Description:

r1

Type: Revolute

Description:

r2

Type: Revolute

Description:

r3

Type: Revolute

Description:

r4

Type: Revolute

Description:

r5

Type: Revolute

Description:

r6

Type: Revolute

Description:

b0

Type: BodyShape

Description:

b1

Type: BodyShape

Description:

b2

Type: BodyShape

Description:

b3

Type: BodyShape

Description:

b4

Type: BodyShape

Description:

b5

Type: BodyShape

Description:

b6

Type: BodyShape

Description:

load

Type: BodyShape

Description:

Used in Examples (1)

fullRobot

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