3RPR_model.world

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[CONSTANTS]

% anchor points in the base
a1x:=0
a1y:=0
a2x:=15.91
a2y:=0
a3x:=0
a3y:=10

% anchor points in the platform
b1x:=0
b1y:=0
b2x:=17.04
b2y:=0
cos1:=(16.54^2-20.84^2-17.04^2)/(-2*20.84*17.04)
sin1:=sqrt(1-cos1^2)
b3x:=20.84*cos1
b3y:=20.84*sin1

% Lower/Upper range 
l1:=10
l2:=40

l3:=l2-l1

% radious of the cylinder of the lower part of the leg
rc1:=0.15

% radious of the cylinder of the upper part of the leg
rc2:=0.1

% radious of the cylinder for the platform
rcp:=0.1

[LINKS]

base

leg1_1: cylinder rc1 (0,0,0) (l1,0,0)
leg2_1: cylinder rc1 (0,0,0) (l1,0,0)
leg3_1: cylinder rc1 (0,0,0) (l1,0,0)

leg1_2: cylinder rc2 (0,0,0) (l3,0,0)
leg2_2: cylinder rc2 (0,0,0) (l3,0,0)
leg3_2: cylinder rc2 (0,0,0) (l3,0,0)

platform: cylinder rcp (b1x,0,b1y) (b2x,0,b2y)
          cylinder rcp (b2x,0,b2y) (b3x,0,b3y)
          cylinder rcp (b3x,0,b3y) (b1x,0,b1y)

[JOINTS]

revolute: base (a1x,0,a1y)+(0,1,0)
          leg1_1 (0,0,0)+(0,1,0)

revolute: base (a2x,0,a2y)+(0,1,0)
          leg2_1 (0,0,0)+(0,1,0)

revolute: base (a3x,0,a3y)+(0,1,0)
          leg3_1 (0,0,0)+(0,1,0)

prismatic: leg1_1 (0,0,0)+(1,0,0)
           leg1_2 (0,0,0)+(1,0,0)
           range [l1,l2]

prismatic: leg2_1 (0,0,0)+(1,0,0)
           leg2_2 (0,0,0)+(1,0,0)
           range [l1,l2]

prismatic: leg3_1 (0,0,0)+(1,0,0)
           leg3_2 (0,0,0)+(1,0,0)
           range [l1,l2]

revolute: leg1_2 (l3,0,0)+(0,1,0)
          platform (b1x,0,b1y)+(0,1,0)

revolute: leg2_2 (l3,0,0)+(0,1,0)
          platform (b2x,0,b2y)+(0,1,0)

revolute: leg3_2 (l3,0,0)+(0,1,0)
          platform (b3x,0,b3y)+(0,1,0)