modelGearType2
Motor inertia and gearbox model for r3 joints 4,5,6
Extends from Modelica.Mechanics.Rotational.Icons.Gearbox (Icon of a gear box), Modelica.Mechanics.Rotational.Interfaces.PartialTwoFlanges (Partial model for a component with two rotational 1-dim. shaft flanges).
Information
The elasticity and damping in the gearboxes of the outermost three joints of the robot is neglected. Default values for all parameters are given for joint 4.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Real | i | -99 | Gear ratio |
| SI.Torque | Rv0 | 21.8 | Viscous friction torque at zero velocity |
| Real | Rv1 | 9.8 | Viscous friction coefficient (R=Rv0+Rv1*abs(qd)) |
| Real | peak | (26.7/21.8) | Maximum static friction torque is peak*Rv0 (peak >= 1) |
| SI.AngularVelocity | unitAngularVelocity | 1 | |
| SI.Torque | unitTorque | 1 |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Flange_a | flange_a (from PartialTwoFlanges) | Flange of left shaft | |
| Flange_b | flange_b (from PartialTwoFlanges) | Flange of right shaft |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.Rotational.Components.IdealGear | gear | ||
| Modelica.Mechanics.Rotational.Components.BearingFriction | bearingFriction |