.DeltaRobot.Functions.parallelogramDirections

Information

Return three vectors resolved in base frame that represent the three long sides of the parallelograms for a given platform position

Interface

function parallelogramDirections
  extends DeltaRobot.Icons.Function;
  import TM = Modelica.Mechanics.MultiBody.Frames.TransformationMatrices;
  input SI.Position p[3] "Coordinates of the platform frame resolved in base frame";
  input SI.Distance L "Length of the upper arms";
  input SI.Distance l "Length of the parallelograms (long side)";
  input SI.Diameter Db "Base diameter";
  input SI.Diameter Dp "Platform diameter";
  input SI.Angle beta_base "Angle from the x-axis of the base frame to the direction where the joint #1 is located";
  output Real parallelogram[3, 3] "Long sides of the parallelograms represented as vectors, parallelogram[#parallelogram,#component]";
end parallelogramDirections;