modelPRWorkspace

Diagram of PRWorkspaceOpen the diagram
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Extends from Modelica.Icons.Example (Icon for runnable examples), Servomechanisms.Utilities.Visual3d, Servomechanisms.Examples.PRServomechanism.Data.

Information

General

The purpose of this model is to determine de workspace and possible trayectory of the mechanism. The parameters used are located in the record. This parameters are used as the parameters of each component as needed.

Implementation

The Workspace2d generates references values between the ranges of the joints feasible motion. This values are then introduced into Angular position sources and Translational position sources (from MSL ) and then connected to the RR component.

Notes

  • The block flowertrayectory is utilized to verify that the trayectory is within the workspace.
  • Note that the parameter exact in each position source is true to avoid the minimal frequency.
  • Both, the workspace and flower trayectory are completed in 1 sec.

Results

The simulation results in parametric plot are:

Parameters

TypeNameDefaultDescription
Reall1 (from Data)0.3
Realw1 (from Data)0.01
Realh1 (from Data)0.075
Reald1 (from Data)888.889
Realmin1 (from Data)-0.3
Realmax1 (from Data)0
Reall2 (from Data)0.085
Realw2 (from Data)0.02
Realh2 (from Data)0.005
Reald2 (from Data)2352.94
Realmin2 (from Data)-pi/2
Realmax2 (from Data)pi/2
Reala (from Data)0.075
Realb (from Data)1/8
Realxc (from Data)0.15
Realyc (from Data)0
RealR (from Data)0.101
RealL (from Data)0.0000266
Realk (from Data)0.0115
RealJ (from Data)0.0000119
RealVoltage (from Data)12
Realperiod (from Data)60
Realratio1 (from Data)50
Realratio2 (from Data)5
Realkprot (from Data)3.9551
Realkppris (from Data)5.4292

Components

TypeNameDefaultDescription
Modelica.Mechanics.Translational.Sources.Positionposition1
Modelica.Mechanics.Rotational.Sources.Positionposition2
Servomechanisms.Mechanism.Workspace2dworkspace1
Servomechanisms.Control.FlowerTrayectoryflowertrayectory1
Servomechanisms.Mechanism.PRpr1