modelSixLegs

Set of six legs of a Stewart Platform appropiately connected, composed of electric cylinders and servo motors

Diagram of SixLegs

Extends from StewartPlatform.Icons.SixLegs (Icon for 'SixLegs' model).

Parameters

Type	Name	Default	Description
Universal joints
UniversalJointParameters[6]	universalJointParameters	gp.universalJointParameters	Parameters of the universal joints
Electric cylinders
ElectricCylinderParameters[6]	electricCylinderParameters	gp.electricCylinderParameters	Parameters of the electric cylinders
Servo motors
ServoMotorParameters[6]	servoMotorParameters	gp.servoMotorParameters	Parameters of the servo motors
Spherical joints
SphericalJointParameters[6]	sphericalJointParameters	gp.sphericalJointParameters	Parameters of the spherical joints

Connectors

Type	Name	Default	Description
Modelica.Mechanics.MultiBody.Interfaces.Frame_a[6]	frame_base		Frames for connection with the base's joints
Modelica.Mechanics.MultiBody.Interfaces.Frame_b[6]	frame_platform		Frames for connection with the platform's joints
Interfaces.ControlBus	controlBus

Components

Type	Name	Default	Description
StewartPlatform.Components.GlobalParameters	gp
SI.Torque[6]	motorTorqueDIS		Display torque applied by motors
Leg	leg1
Leg	leg2
Leg	leg3
Leg	leg4
Leg	leg5
Leg	leg6