PlanarLoops_analyticMechanism with three planar kinematic loops and one degree-of-freedom with analytic loop handling (with JointRRR joints) |
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Diagram
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
It is demonstrated how the Modelica.Mechanics.MultiBody.Joints.Assemblies.JointRRR joint can be used to solve the non-linear equations of coupled planar loops analytically. In the mechanism below no non-linear equation occurs any more from the tool view, since these equations are solved analytically in the JointRRR joints. For more details, see MultiBody.UsersGuide.Tutorial.LoopStructures.AnalyticLoopHandling.
In the following figure the parameter vectors of this example are visualized in the animation view.
Parameters (8)
| rh |
Value: {0.5, 0, 0} Type: Length[3] (m) Description: Position vector from 'lower left' revolute to 'lower right' revolute joint for all the 3 loops |
|---|---|
| rv |
Value: {0, 0.5, 0} Type: Length[3] (m) Description: Position vector from 'lower left' revolute to 'upper left' revolute joint in the first loop |
| r1b |
Value: {0.1, 0.5, 0} Type: Length[3] (m) Description: Position vector from 'lower right' revolute to 'upper right' revolute joint in the first loop |
| r1a |
Value: r1b + rh - rv Type: Length[3] (m) Description: Position vector from 'upper left' revolute to 'upper right' revolute joint in the first loop |
| r2b |
Value: {0.1, 0.6, 0} Type: Length[3] (m) Description: Position vector from 'lower right' revolute to 'upper right' revolute joint in the second loop |
| r2a |
Value: r2b + rh - r1b Type: Length[3] (m) Description: Position vector from 'upper left' revolute to 'upper right' revolute joint in the second loop |
| r3b |
Value: {0, 0.55, 0} Type: Length[3] (m) Description: Position vector from 'lower right' revolute to 'upper right' revolute joint in the third loop |
| r3a |
Value: r3b + rh - r2b Type: Length[3] (m) Description: Position vector from 'upper left' revolute to 'upper right' revolute joint in the third loop |
Components (15)
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world |
Type: World |
|---|---|---|
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jointRRR1 |
Type: JointRRR |
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rev |
Type: Revolute |
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rod1 |
Type: FixedTranslation |
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rod2 |
Type: FixedTranslation |
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body1 |
Type: Body |
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position |
Type: Position |
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sine |
Type: Sine |
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jointRRR2 |
Type: JointRRR |
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rod3 |
Type: FixedTranslation |
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body2 |
Type: Body |
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jointRRR3 |
Type: JointRRR |
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rod4 |
Type: FixedTranslation |
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body3 |
Type: Body |
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mounting1D |
Type: Mounting1D |