.Servomechanisms.Mechanism.PR

Information

General

This class models a PR mechanism.

Implementation

It uses RLink and PLink elements.

Notes

• The first joint is fixed in the origin.
• By default the revolute joint axis is the z axis (rotation axis in direction

  n=[0,0,1]

  ), the prismatic joint axis is the x axis

  n=[1,0,0]

  and gravity is in direction

  n=[0,-1,0]

• The generalized coordinates theta and d are the angle in radians and distance in meters respectively.
• The interfaces are Modelica.Mechanics.Rotational and Modelica.Mechanics.Translational
• The mechanical parameters of each link are editable (dimensions, mass, etc)

Example