modelGlobalParameters
This model includes all parameters that are shared between the models of this library
Extends from StewartPlatform.Icons.GlobalParameters (Icon for 'GlobalParameters' model).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Frames.Orientation | R_rel | if rotationType == TY.RotationTypes.RotationAxis then Frames.planarRotation(Modelica.Math.Vectors.normalizeWithAssert(n), from_deg(angle), 0) else if rotationType == TY.RotationTypes.TwoAxesVectors then Frames.from_nxy(n_x, n_y) else Frames.axesRotations(sequence, from_deg(angles), zeros(3)) | Fixed rotation object from base frame to platform frame |
| TY.RotationSequence | initSequence | {1, 2, 3} | Sequence of rotations to rotate base frame into platform frame; used to initialize the model |
| SI.Angle[3] | initAngles | Frames.axesRotationsAngles(R_rel, initSequence) | Initial values of angles to rotate base frame around 'initSequence' axes into platform frame; used to initialize the model |
| Real[6,3] | leg | legsDirections(base, platform, initPlatformPos, initSequence, initAngles, true) | Initial legs direction resolved in base frame |
| SI.Length[6] | ec_initialLength | legsLength(base, platform, initPlatformPos, initSequence, initAngles) | Initial legs length |
| SI.Angle[6,2] | uj_angles | {ujAngles(leg[i], alpha[i]) for i in 1:6} | Initial rotation angles of the universal joints |
| Default | |||
| TY.RotationSequence | defaultSequence | {1, 2, 3} | Default sequence of rotations to define an orientation |
| Base and platform | |||
| DiscParameters | base | Parameters of the base | |
| DiscParameters | platform | Parameters of the platform | |
| Initialization | |||
| SI.Position[3] | basePos | {0, 0, 0} | Vector from world frame to base.frame_a resolved in world frame |
| SI.Position[3] | initPlatformPos | {0, 0, 1.45} | Coordinates of the platform frame resolved in base frame |
| TY.RotationTypes | rotationType | TY.RotationTypes.RotationAxis | Type of rotation description |
| Initialization › if rotationType = RotationAxis | |||
| TY.Axis | n | {1, 0, 0} | Axis of rotation in base frame (= same as in platform frame) |
| NonSI.Angle_deg | angle | 0 | Angle to rotate base frame around axis n into platform frame |
| Initialization › if rotationType = TwoAxesVectors | |||
| TY.Axis | n_x | {1, 0, 0} | Vector along x-axis of platform frame resolved in base frame |
| TY.Axis | n_y | {0, 1, 0} | Vector along y-axis of platform frame resolved in base frame |
| Initialization › if rotationType = PlanarRotationSequence | |||
| TY.RotationSequence | sequence | {1, 2, 3} | Sequence of rotations |
| NonSI.Angle_deg[3] | angles | {0, 0, 0} | Rotation angles around the axes defined in 'sequence' |
| Universal joints | |||
| SI.Angle[6] | alpha | {from_deg(0), from_deg(0), from_deg(0), from_deg(0), from_deg(0), from_deg(0)} | Orientation of the universal joint: fix rotation around z-axis from frame_a |
| UniversalJointParameters[6] | universalJointParameters | {UniversalJointParameters(stateSelect = StateSelect.never, initialAnglesFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, alpha = alpha[1], angles = uj_angles[1]), UniversalJointParameters(stateSelect = StateSelect.never, initialAnglesFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, alpha = alpha[2], angles = uj_angles[2]), UniversalJointParameters(stateSelect = StateSelect.never, initialAnglesFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, alpha = alpha[3], angles = uj_angles[3]), UniversalJointParameters(stateSelect = StateSelect.never, initialAnglesFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, alpha = alpha[4], angles = uj_angles[4]), UniversalJointParameters(stateSelect = StateSelect.never, initialAnglesFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, alpha = alpha[5], angles = uj_angles[5]), UniversalJointParameters(stateSelect = StateSelect.never, initialAnglesFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, alpha = alpha[6], angles = uj_angles[6])} | Parameters of the universal joints |
| Electric cylinders | |||
| ElectricCylinderParameters[6] | electricCylinderParameters | {ElectricCylinderParameters(stateSelect = StateSelect.always, initialLengthFixed = true, initialVelFixed = true, initialAccFixed = false, initialLength = ec_initialLength[1]), ElectricCylinderParameters(stateSelect = StateSelect.always, initialLengthFixed = true, initialVelFixed = true, initialAccFixed = false, initialLength = ec_initialLength[2]), ElectricCylinderParameters(stateSelect = StateSelect.always, initialLengthFixed = true, initialVelFixed = true, initialAccFixed = false, initialLength = ec_initialLength[3]), ElectricCylinderParameters(stateSelect = StateSelect.always, initialLengthFixed = true, initialVelFixed = true, initialAccFixed = false, initialLength = ec_initialLength[4]), ElectricCylinderParameters(stateSelect = StateSelect.always, initialLengthFixed = true, initialVelFixed = true, initialAccFixed = false, initialLength = ec_initialLength[5]), ElectricCylinderParameters(stateSelect = StateSelect.always, initialLengthFixed = true, initialVelFixed = true, initialAccFixed = false, initialLength = ec_initialLength[6])} | Parameters of the electric cylinders |
| Servo motors | |||
| ServoMotorParameters[6] | servoMotorParameters | Parameters of the servo motors | |
| Spherical joints | |||
| SphericalJointParameters[6] | sphericalJointParameters | fill(SphericalJointParameters(enforceStates = false, useQuaternions = false, initialAngularVelFixed = false, initialAngularAccFixed = false), 6) | Parameters of the spherical joints |
| Limit parameters for functions and external models | |||
| SI.Distance | maxLength | electricCylinderParameters[1].maxLength | Max legs length (linear actuators have ECparameters.maxLength as max length) |
| SI.Distance | minLength | electricCylinderParameters[1].minLength | Min legs length (linear actuators have ECparameters.minLength as min length) |