modelRRWorkspace

Diagram of RRWorkspaceOpen the diagram
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Extends from Modelica.Icons.Example (Icon for runnable examples), Servomechanisms.Examples.RRServomechanism.Data (RR Servomechanism 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 (from MSL ) and then connected to the RR component.

Notes

  • The block circletrayectory 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 circle trayectory are completed in 1 sec.

Results

The simulation results in parametric plot are:

Parameters

TypeNameDefaultDescription
Reall1 (from Data)0.2
Realw1 (from Data)0.02
Realh1 (from Data)0.005
Reald1 (from Data)400
Realmin1 (from Data)0
Realmax1 (from Data)pi/2
Reall2 (from Data)0.1
Realw2 (from Data)0.02
Realh2 (from Data)0.005
Reald2 (from Data)400
Realmin2 (from Data)-pi/2
Realmax2 (from Data)pi/2
Realr (from Data)0.03
Realxc (from Data)0.25
Realyc (from Data)0.075
Realratio1 (from Data)10
Realratio2 (from Data)5
Realperiod (from Data)8
RealR (from Data)0.101
RealL (from Data)0.0000266
Realk (from Data)0.0115
RealJ (from Data)0.0000119
RealVoltage (from Data)12
Realkp2 (from Data)4.423
Realkp1 (from Data)7.1543

Components

TypeNameDefaultDescription
Modelica.Mechanics.Rotational.Sources.Positionposition1
Modelica.Mechanics.Rotational.Sources.Positionposition2
Servomechanisms.Mechanism.Workspace2dworkspace1
Servomechanisms.Mechanism.RRrr1
Servomechanisms.Control.CircleTrayectorycircletrayectory1