modelSixLegs_invDyn2
Six-Legs model for inverse dynamic
Extends from StewartPlatform.Icons.SixLegs_invDyn (Icon for 'SixLegs_invDyn' model).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Universal joints | |||
| UniversalJointParameters[6] | universalJointParameters | gp.universalJointParameters | Parameters 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] | 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 platform's joints | |
| Modelica.Mechanics.MultiBody.Interfaces.Frame_b[6] | frame_platform | Frames for connection with the platform's joints | |
| Modelica.Blocks.Interfaces.RealOutput[6] | appliedTorque | ||
| Modelica.Blocks.Interfaces.RealInput[6] | angularPos | ||
| Modelica.Blocks.Interfaces.RealInput[6] | angularVel | ||
| Modelica.Blocks.Interfaces.RealInput[6] | angularAcc |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| StewartPlatform.Components.GlobalParameters | gp | ||
| SI.Torque[6] | motorTorqueDIS | Display torque applied by motors | |
| Leg_invDyn2 | leg1 | ||
| Leg_invDyn2 | leg2 | ||
| Leg_invDyn2 | leg3 | ||
| Leg_invDyn2 | leg4 | ||
| Leg_invDyn2 | leg5 | ||
| Leg_invDyn2 | leg6 |