Path: SCPro/Systems
% Add a multi-element arm to a CAD models.
Adds one body per linke an one cylinder per link. Each joint may
have multiple one degree of freedom joints represented by unit vectors
and angles
As an example
link(k).u = [1;0;0];
link(k).r = [0;0;0.02];
link(k).angle = pi/4;
link(k).mass = 0.02;
link(k).radius = 0.01;
link(k).b = eye(3);
link(k).power = 1;
link(k).name = 'wrist';
AddRobotArm( 'add bodies', 1, 4, [0;0;zBox], link );
BuildCADModel( 'compute paths' );
AddRobotArm( 'add components', 1, 4, [0;0;zBox/2], link );
Since version 10.
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Form:
AddRobotArm( action, previousBody, firstBody, rBase, link )
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Inputs
------
action (1,:) 'initialize' or 'update'
previousBody (1,1) Body to which the arm is attached
firstBody (1,1) First body in the robot chain
rBase (3,1) Location of the base on the previous body
link (:) Data structure
.u (3,:) Joint unit vectors
.r (3,1) Vector from the joint to the link end
.angle (1,:) Joint angles = pi/4;
.mass (1,1) Link mass
.radius (1,1) Link radius
.power (1,1) Link motor power consumption
.name (1,:) Link name
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Outputs
-------
None
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AC: ACData/ACTConstants AerospaceUtils: AtmosphericCalculations/AtmDens2 AerospaceUtils: AtmosphericCalculations/AtmJ70 AerospaceUtils: AtmosphericCalculations/BaromExp AerospaceUtils: AtmosphericCalculations/DiffusionExp AerospaceUtils: CAD/BHinge AerospaceUtils: CAD/BodyPlugIn AerospaceUtils: CAD/BuildCADModel AerospaceUtils: CAD/ComponentPlugIn AerospaceUtils: CAD/ComponentPopup AerospaceUtils: CAD/CreateBody AerospaceUtils: CAD/CreateCADTable AerospaceUtils: CAD/CreateComponent AerospaceUtils: CAD/DeviceProperties AerospaceUtils: CAD/Dim AerospaceUtils: CAD/Draw2DViewPlugIn AerospaceUtils: CAD/DrawSCPlanPlugIn AerospaceUtils: CAD/DrawSpacecraftPatches AerospaceUtils: CAD/ExportCAD AerospaceUtils: CAD/GenericProperties AerospaceUtils: CAD/SpacecraftPlugIn AerospaceUtils: ComponentModels/AntennaPatch AerospaceUtils: ComponentModels/ArrayPatch AerospaceUtils: ComponentModels/CameraModel AerospaceUtils: ComponentModels/HallThrusterModel AerospaceUtils: 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