WOLFRAM SYSTEM MODELER

MechanicalStructure

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

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities.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

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis2

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis3

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis4

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis5

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

axis6

Type: Flange_a

Description: One-dimensional rotational flange of a shaft (filled circle icon)

Components (15)

world

Type: World

Description: World coordinate system + gravity field + default animation definition

r1

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r2

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r3

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r4

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r5

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

r6

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

b0

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b1

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b2

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b3

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b4

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b5

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

b6

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

load

Type: BodyShape

Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

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