modelPrismatic
Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames (Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| URDFModelica.Records.Joint | jointParams | ||
| Integer | flangeIndex | 0 |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Frame_a | frame_a (from PartialTwoFrames) | Coordinate system a fixed to the component with one cut-force and cut-torque | |
| Interfaces.Frame_b | frame_b (from PartialTwoFrames) | Coordinate system b fixed to the component with one cut-force and cut-torque | |
| Modelica.Mechanics.Translational.Interfaces.Flange_a | flange_a | ||
| Modelica.Mechanics.Translational.Interfaces.Flange_b | flange_b |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Parts.FixedRotation | fixedRotation | ||
| Modelica.Mechanics.MultiBody.Joints.Prismatic | prismatic | ||
| Modelica.Blocks.Logical.GreaterThreshold | posLimitHigh | ||
| Modelica.Blocks.Logical.LessThreshold | posLimitLow | ||
| Modelica.Blocks.Logical.GreaterThreshold | speedLimitHigh | ||
| Modelica.Blocks.Logical.LessThreshold | speedLimitLow | ||
| Modelica.Blocks.Logical.GreaterThreshold | forceLimitHigh | ||
| Modelica.Blocks.Logical.LessThreshold | forceLimitLow | ||
| URDFModelica.Joints.TranslationalFriction | dynamic | ||
| Modelica.Mechanics.Translational.Sensors.ForceSensor | forceSensor | ||
| Modelica.Mechanics.Translational.Sensors.PositionSensor | positionSensor | ||
| Modelica.Mechanics.Translational.Sensors.SpeedSensor | speedSensor |