functionparallelogramAngles
Return the angles to initialize the parallelograms
Extends from DeltaRobot.Icons.Function (Icon for functions).
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Position[3] | p | Coordinates of the platform frame resolved in base frame | |
| SI.Distance | L | Length of the upper arms | |
| SI.Distance | l | Length of the parallelograms (long side) | |
| SI.Diameter | Db | Base diameter | |
| SI.Diameter | Dp | Platform diameter | |
| SI.Angle | beta_base | Angle from the x-axis of the base frame to the direction where the joint #1 is located |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Angle[3,3] | angles | Rotation angles. In sequence: around upper revolute joint, parallelogram joint, lower revolute joint (angles[#parallelogram,#angle]) |