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A wing landing gear mechanism that can deploy and retract based on the input deploy signal. The mechanism consists of the main column that houses the wheel assembly and the locking mechanism that is used to lock the landing gear in the deployed position.
Model an inverted double pendulum mounted on a sliding cart using Simscape™ Multibody™. It also illustrates the use of a controller to balance the pendulum in the upright position. Make any changes to the system and click on the blue box to generate linearized model for the system before running the simulation. The control gains are computed using the linearized model. The pole placement technique is used to compute the control gains from the linearized model. The controller keeps the double pendulum vertical in the presence of a random disturbance force. See the files sm_cart_dpen_linearize.m and sm_cart_dpen_control_gains.m for details.
A Stewart platform manipulator that can track a parameterized reference trajectory. The shape, size, and kinematics of the manipulator are highly configurable.
Interesting wave patterns that emerge among an array of simple pendulums with carefully chosen lengths. It is based on the physical system that can be viewed at www.youtube.com/watch?v=yVkdfJ9PkRQ
Illustrates a double wishbone front wheel automotive suspension. The suspension is mounted on two platforms that can independently move up and down to simulate a road profile on each wheel. For a given pair of road profiles, the resultant roll and bounce of the chassis can be studied and the suspension parameters tuned for optimal performance. The inputs to the two platforms are the road profile and its derivative. The platforms have a PD controller that controls the vertical position of the platform to mimic the input road profile. See "Road Profiles Generator" block dialog for details on the test road profiles.
Includes templates for three common types of automotive independent suspension systems: double wishbone, MacPherson, and pushrod. Tires attached to the suspension systems are mounted on platforms that can independently move up and down. Each platform has a PD controller that allows it to simulate a desired road profile. For a given pair of road profiles, the resultant roll and bounce of the chassis can be studied and the suspension parameters can be tuned for optimal performance.
A hydraulically actuated backhoe model with closed-loop PID control. The mechanism consists of a fixed vehicle model with a base mounting bracket. The bracket allows the backhoe arm to swivel left and right. Additionally, this arm has three rotational degrees of freedom for controlling the position of the bucket relative to the base swivel point.
Models a 3-Roll robotic wrist mechanism based on the Cincinnati-Milacron 3-roll wrist mechanism. The mechanism uses three bevel gear pairs to rotate the tool about 3 independent axes. The tip of the tool moves along the surface of a sphere and can be rotated about an axis that passes through the center of that sphere (drilling action). In this example, precomputed torques are applied to the three drive shafts to achieve a certain trajectory (on the surface of the sphere) of the tool tip. Drilling is performed at different points along the trajectory.
A fairground carousel ride. A torque applied to the wheel causes the carousel to rotate and a hydraulic actuator provides the force to lift the arm. The cabs are free to rotate about an axis approximately tangential to the wheel radius. When the wheel is near vertical, the centrifugal acceleration acting on the cabs (caused by the rotation of the wheel) ensures that the cabs are close to a near vertical position. Consequently, the riders are close to 'up-side-down' at the top of the rotation.
Models a tower crane with a trolley and a hoist. The hoist can raise and lower a load, and the trolley moves the load towards and away from the tower. Blocks from the belts and cables library are used to model the pulleys that control lifting the load and moving the trolley.
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