Table 1 Building block of the arm in Maplesim
From: Enhanced vibration control of a multilink flexible manipulator using filtered inverse controller
S.No. | Symbol | Component name | Short description. |
|---|---|---|---|
1. |
| pmdc motor | Models a DC machine with permanent magnets |
2. |
| Step | Generates a real step signal with variable height |
3. |
| Revolute | Joint allowing one rotational degree of freedom about a given axis |
4. |
| Angle sensor | Measures the absolute flange angle |
5. |
| Force and moment | Measures and outputs the forces and moments acting between two frames |
6. |
| Rigid bode | Center of mass frame with associated mass and inertia matrix |
7. |
| Flexible beam | A flexible beam with axial, lateral, and torsional deformations |
8. |
| Gain | Outputs the product of a gain value with the input signal |
9. |
| Lossy gear | Gearbox with mesh efficiency and bearing friction. Represent the harmonic drive |
10. |
| Rigid body frame | Frame with a fixed displacement and orientation relative to a rigid body center of mass frame |
