.Servomechanisms.Mechanism.PP

Information

General

This class models a PP mechanism.

Implementation

It uses PLink element.

Notes

• The first joint is fixed in the origin.
• By default the first prismatic joint axis is the x axis

  n=[1,0,0]

  the second joint axis is the y axis

  n=[0,1,0]

  ) and gravity is in direction

  n=[0,-1,0]

• The generalized coordinates d1 and d2 are the distances of each joint in meters.
• The interfaces are Modelica.Mechanics.Rotational
• The mechanical parameters of each link are editable (dimensions, mass, etc)