GearType2Motor inertia and gearbox model for r3 joints 4,5,6 |
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Diagram
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
The elasticity and damping in the gearboxes of the outermost three joints of the robot is neglected. Default values for all parameters are given for joint 4.
Parameters (4)
| i |
Value: -99 Type: Real Description: Gear ratio |
|---|---|
| Rv0 |
Value: 21.8 Type: Torque (N·m) Description: Viscous friction torque at zero velocity |
| Rv1 |
Value: 9.8 Type: Real (N·m·s/rad) Description: Viscous friction coefficient (R=Rv0+Rv1*abs(qd)) |
| peak |
Value: 26.7 / 21.8 Type: Real Description: Maximum static friction torque is peak*Rv0 (peak >= 1) |
Connectors (2)
Components (2)
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gear |
Type: IdealGear |
|---|---|---|
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bearingFriction |
Type: BearingFriction |
Used in Components (1)
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Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities Axis model of the r3 joints 4,5,6 |