modelPartialThreeArms
Partial model of the three arms of a Delta robot
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Arms | |||
| ArmParameters[3] | armParameters | gp.armParameters | Parameters of the arms |
| Actuators | |||
| ActuatorParameters[3] | actuatorParameters | gp.actuatorParameters | Parameters of the rotary actuators |
| Reducers | |||
| ReducerParameters[3] | reducerParameters | gp.reducerParameters | Parameters of the gearbox reducers |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Interfaces.Frame_a[3] | frame_base | Frames for connection with the base's joints | |
| Modelica.Mechanics.MultiBody.Interfaces.Frame_b[3] | frame_platform | Frames for connection with the platform's joints |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| DeltaRobot.Components.GlobalParameters | gp | ||
| SI.Torque[3] | motorTorqueDIS | Display torque applied by motors | |
| SI.AngularVelocity[3] | motorVelocityDIS | Angular velocity of morots | |
| Modelica.Mechanics.MultiBody.Parts.BodyCylinder | upperArm1 | ||
| Modelica.Mechanics.MultiBody.Parts.BodyCylinder | upperArm2 | ||
| Modelica.Mechanics.MultiBody.Parts.BodyCylinder | upperArm3 |