Artifact d7401fba343a52cd8adc3bc985563ea9997a4c1b26bd75e9ac76ad5a988f5a83:


%SUMMARY twolink: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"


%% Label (twolink_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - identical rods
rod1	none	l;l;j_s;m_s
rod2	none	l;l;j_s;m_s

%Zero velocity sources
v_x	 SS     internal,0
v_y	 SS	internal,0


%Zero force/torque sources
F_x	SS	   0,internal
F_a	SS	   0,internal
F_y	SS	   0,internal


%Torque at joints
%f_a1	SS external,external
%f_a2	SS external,external

%Gravity
%g



MTT: Model Transformation Tools
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