recordArmParameters
Parameters of a Delta Robot's arm
Extends from DeltaRobot.Icons.Record (Icon for records).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | computeParallelogramLength | false | =true if the long side length is a guess value, =false if it is a fixed value |
| Upper arm | |||
| SI.Distance | L | 0.2575 | Length |
| SI.Diameter | D | 0.03 | Diameter |
| SI.Mass | M | 6 | Mass |
| Parallelogram | |||
| SI.Distance | l | 0.7 | Long side length |
| SI.Distance | h | 0.1 | Short side length |
| SI.Diameter | Dl | 0.01 | Diameter of the long side |
| SI.Diameter | Dh | 0.01 | Diameter of the short side |
| SI.Mass | Ml | 2 | Mass of the long side |
| SI.Mass | Mh | 2 | Mass of the short side |
| Limits | |||
| SI.Angle | maxTheta | from_deg(85) | Max actuator angle |
| SI.Angle | minTheta | from_deg(-85) | Min actuator angle |
| SI.Angle | maxElbowAngle | from_deg(160) | Max internal angle between the upper arm and the parallelogram (180° means allignment) |
| SI.Angle | minElbowAngle | from_deg(20) | Min internal angle between the upper arm and the parallelogram (0° means overlap) |
| SI.Angle | maxParallelogramAngle | from_deg(30) | Max parallelogram direction angle (0° means rectangular shape) |
| SI.Angle | minParallelogramAngle | from_deg(-30) | Min parallelogram direction angle (0° means rectangular shape) |
| SI.Angle | maxPlatformAngle | from_deg(180) | Max angle between parallelogram and platform (180° means allignment) |
| SI.Angle | minPlatformAngle | from_deg(80) | Min angle between parallelogram and platform (0° means overlap) |
| Animation | |||
| SI.Distance | cylinderLength | 1/30 | Length of cylinder representing the universal joint |
| SI.Diameter | cylinderDiameter | 1/30 | Diameter of cylinder representing the universal joint |
| SI.Diameter | sphereDiameter | 1/30 | Diameter of sphere representing the spherical joint |