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Tripod
This model describes a tripod, a 3 legged mechanism where each
legs consists of two parallel bars which are on one side connected
to a linear motor and on the other side to a hexagram shaped platform.
Because of the special configuration of the attachment of each
leg to the linear motor, the connected platform will always stay
horizontal but can be maneuvered to every position between the
three linear motors.
The tripod structure is modelled in the 3D Mechanics Toolbox. A
reference path is generated for the platform position. Using this
position the setpoint of each leg can be calculated. A PD controller
on each leg steers the actuation force with respect to some extension
error. The animation shows a movement in x -and y-direction on two
different heights, followed by a circle after which the platform
drops back to the starting position.
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