.Servomechanisms.Mechanism.RR

Information

General

This class models a 2R mechanism. It is intended to be used as a RR planar mechanism also known as planar elbow manipulator.

Implementation

It uses RLink element and it's based on the next scheme:

Notes

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

  n=[0,0,1]

  ) and gravity is in direction

  n=[0,-1,0]

• The generalized coordinates theta1 and theta2 are the angles of each joint in radians as shown in the figure.
• The interfaces are Modelica.Mechanics.Rotational
• The mechanical parameters of each link are editable (dimensions, mass, etc)
• The World element is included in the model.