modelLeg_invDyn2
Leg model for inverse dynamic
Extends from StewartPlatform.Icons.Leg_invDyn (Icon for 'Leg_invDyn' model).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Universal joint | |||
| UniversalJointParameters | universalJointParameters | Parameters of the universal joint | |
| Electric cylinder | |||
| ElectricCylinderParameters | electricCylinderParameters | Parameters of the electric cylinder | |
| Spherical joint | |||
| SphericalJointParameters | sphericalJointParameters | Parameters of the spherical joint | |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Interfaces.Frame_a | frame_a | Frame for connection with a base's joint frame | |
| Modelica.Mechanics.MultiBody.Interfaces.Frame_b | frame_b | Frame for connection with a platform's joint frame | |
| Modelica.Blocks.Interfaces.RealInput | angularPos | ||
| Modelica.Blocks.Interfaces.RealInput | AngularAcc | ||
| Modelica.Blocks.Interfaces.RealInput | angularVel | ||
| Modelica.Blocks.Interfaces.RealOutput | appliedTorque |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| ElectricCylinder | electricCylinder | ||
| UniversalJoint | universalJoint | ||
| ServoMotor_invDyn2 | servoMotor | ||
| SphericalJoint | sphericalJoint |