modelPartialActuator
Partial model of a rotary actuator
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| DeltaRobot.Types.ReducerParameters | reducerParameters | Parameters of the gearbox reducer | |
| DeltaRobot.Types.ActuatorParameters | actuatorParameters | Parameters of the rotary actuator |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Interfaces.Frame_a | frame_a | ||
| Modelica.Mechanics.MultiBody.Interfaces.Frame_b | frame_b |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Angle | theta | Rotation angle around z-axis from frame_a to frame_b | |
| SI.AngularVelocity | velocity | First derivative of 'theta' (=der(theta)) | |
| SI.AngularAcceleration | acceleration | Second derivative of 'theta' (=der(velocity)) | |
| SI.Torque | torque | Torque applied to the arm, after the reducer | |
| Modelica.Mechanics.MultiBody.Joints.Revolute | revolute | ||
| GearReducer | gearReducer |