modelSixLegs_invDyn

Six-Legs model for inverse dynamic

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

Parameters

TypeNameDefaultDescription
Universal joints
UniversalJointParameters[6]universalJointParametersgp.universalJointParametersParameters of the universal joints
Electric cylinders
ElectricCylinderParameters[6]electricCylinderParameters{ElectricCylinderParameters(stateSelect = StateSelect.prefer, initialLengthFixed = false, initialVelFixed = false, initialAccFixed = false, initialLength = gp.ec_initialLength[1]), ElectricCylinderParameters(stateSelect = StateSelect.prefer, initialLengthFixed = false, initialVelFixed = false, initialAccFixed = false, initialLength = gp.ec_initialLength[2]), ElectricCylinderParameters(stateSelect = StateSelect.prefer, initialLengthFixed = false, initialVelFixed = false, initialAccFixed = false, initialLength = gp.ec_initialLength[3]), ElectricCylinderParameters(stateSelect = StateSelect.prefer, initialLengthFixed = false, initialVelFixed = false, initialAccFixed = false, initialLength = gp.ec_initialLength[4]), ElectricCylinderParameters(stateSelect = StateSelect.prefer, initialLengthFixed = false, initialVelFixed = false, initialAccFixed = false, initialLength = gp.ec_initialLength[5]), ElectricCylinderParameters(stateSelect = StateSelect.prefer, initialLengthFixed = false, initialVelFixed = false, initialAccFixed = false, initialLength = gp.ec_initialLength[6])}Parameters of the electric cylinders
Spherical joints
SphericalJointParameters[6]sphericalJointParametersgp.sphericalJointParametersParameters of the spherical joints

Connectors

TypeNameDefaultDescription
Modelica.Mechanics.MultiBody.Interfaces.Frame_a[6]frame_baseFrames for connection with the platform's joints
Modelica.Mechanics.MultiBody.Interfaces.Frame_b[6]frame_platformFrames for connection with the platform's joints
Interfaces.ControlBuscontrolBus
Modelica.Blocks.Interfaces.RealOutput[6]appliedTorque

Components

TypeNameDefaultDescription
StewartPlatform.Components.GlobalParametersgp
SI.Torque[6]motorTorqueDISDisplay torque applied by motors
StewartPlatform.Interfaces.ControlBus_signalSelectorcontrolBus_signalSelector
Leg_invDynleg1
Leg_invDynleg2
Leg_invDynleg3
Leg_invDynleg4
Leg_invDynleg5
Leg_invDynleg6