DeltaManipulator.world

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[CONSTANTS]

% INPUT PARAMETERS. Fix this for direct kinematics

theta1_min:= pi/3-0.2
theta1_max:= theta1_min

theta2_min:= pi/3
theta2_max:= theta2_min

theta3_min:= pi/3+0.2
theta3_max:= theta3_min

% PARAMETERS OF THE PLATFORM

% radius of the circunference inscribing the base triangle
r_b:=1

% angles from the center of the base to the legs anchor points
beta1_b:=0
beta2_b:=beta1_b+(2*pi/3)
beta3_b:=beta2_b+(2*pi/3)

% radius of the circunference inscribing the platform triangle
r_p:=1

% angles from the center of the platform to the legs anchor points
beta1_p:=0
beta2_p:=beta1_p+(2*pi/3)
beta3_p:=beta2_p+(2*pi/3)

% Length of the bottom part of each leg
lenght_A:=1

% Length of the upper part of each leg (i.e., the long bar of the 4 bar)
length_B:=1

% Length of the short bar forming the 4 bars in the upper part of each leg
length_B1:=0.1

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% nothing to be modified behond this point

% Anchor points of the legs in the base
x1_b:=r_b*cos(beta1_b)
y1_b:=r_b*sin(beta1_b)

x2_b:=r_b*cos(beta2_b)
y2_b:=r_b*sin(beta2_b)

x3_b:=r_b*cos(beta3_b)
y3_b:=r_b*sin(beta3_b)

% Tangent vectors to the sphere inscribing the base triangle at the
% leg anchor points
alpha1_b:=beta1_b+pi/2
alpha2_b:=beta2_b+pi/2
alpha3_b:=beta3_b+pi/2

% Anchor points of the legs in the platform
x1_p:=r_p*cos(beta1_p)
y1_p:=r_p*sin(beta1_p)

x2_p:=r_p*cos(beta2_p)
y2_p:=r_p*sin(beta2_p)

x3_p:=r_p*cos(beta3_p)
y3_p:=r_p*sin(beta3_p)

% Tangent vectors to the sphere inscribing the plotform triangle at the
% leg anchor points
alpha1_p:=beta1_p+pi/2
alpha2_p:=beta2_p+pi/2
alpha3_p:=beta3_p+pi/2

% radius of the bars used in the representation. The bars for the
% base/platform are 1.5 times this radius
rb:=0.025


[LINKS]

base : 0.5*red
       % One sphere at each vertex of the triangle
       sphere rb*1.5 (x1_b,y1_b,0) 
       sphere rb*1.5 (x2_b,y2_b,0)
       sphere rb*1.5 (x3_b,y3_b,0)

       % Three bars forming the triangle
       cylinder rb*1.5 (x1_b,y1_b,0)(x2_b,y2_b,0)
       cylinder rb*1.5 (x1_b,y1_b,0)(x3_b,y3_b,0) 
       cylinder rb*1.5 (x2_b,y2_b,0)(x3_b,y3_b,0) 

       % Part of the revolute joint with the first leg fixed at the base
       cylinder rb (x1_b-length_B1*cos(alpha1_b),y1_b-length_B1*sin(alpha1_b),0) 
                   (x1_b-0.5*length_B1*cos(alpha1_b),y1_b-0.5*length_B1*sin(alpha1_b),0)
       sphere rb (x1_b-length_B1*cos(alpha1_b),y1_b-length_B1*sin(alpha1_b),0)
       cylinder rb (x1_b+0.5*length_B1*cos(alpha1_b),y1_b+0.5*length_B1*sin(alpha1_b),0) 
                   (x1_b+    length_B1*cos(alpha1_b),y1_b+    length_B1*sin(alpha1_b),0)
       sphere rb (x1_b+ length_B1*cos(alpha1_b),y1_b+ length_B1*sin(alpha1_b),0)

       % Part of the revolute joint with the second leg fixed at the base
       cylinder rb (x2_b-length_B1*cos(alpha2_b),y2_b-length_B1*sin(alpha2_b),0) 
                   (x2_b-0.5*length_B1*cos(alpha2_b),y2_b-0.5*length_B1*sin(alpha2_b),0)
       sphere rb (x2_b-length_B1*cos(alpha2_b),y2_b-length_B1*sin(alpha2_b),0)
       cylinder rb (x2_b+0.5*length_B1*cos(alpha2_b),y2_b+0.5*length_B1*sin(alpha2_b),0) 
                   (x2_b+    length_B1*cos(alpha2_b),y2_b+    length_B1*sin(alpha2_b),0)
       sphere rb (x2_b+ length_B1*cos(alpha2_b),y2_b+ length_B1*sin(alpha2_b),0)

       % Part of the revolute joint with the third leg fixed at the base
       cylinder rb (x3_b-length_B1*cos(alpha3_b),y3_b-length_B1*sin(alpha3_b),0) 
                   (x3_b-0.5*length_B1*cos(alpha3_b),y3_b-0.5*length_B1*sin(alpha3_b),0)
       sphere rb (x3_b-length_B1*cos(alpha3_b),y3_b-length_B1*sin(alpha3_b),0)
       cylinder rb (x3_b+0.5*length_B1*cos(alpha3_b),y3_b+0.5*length_B1*sin(alpha3_b),0) 
                   (x3_b+    length_B1*cos(alpha3_b),y3_b+    length_B1*sin(alpha3_b),0)
       sphere rb (x3_b+ length_B1*cos(alpha3_b),y3_b+ length_B1*sin(alpha3_b),0)


platform: 0.5*green
          sphere rb*1.5 (x1_p,y1_p,0) 
          sphere rb*1.5 (x2_p,y2_p,0)
          sphere rb*1.5 (x3_p,y3_p,0)
          cylinder rb*1.5 (x1_p,y1_p,0)(x2_p,y2_p,0)
          cylinder rb*1.5 (x1_p,y1_p,0)(x3_p,y3_p,0) 
          cylinder rb*1.5 (x2_p,y2_p,0)(x3_p,y3_p,0)

          cylinder rb (x1_p-length_B1*cos(alpha1_p),y1_p-length_B1*sin(alpha1_p),0) 
                      (x1_p+length_B1*cos(alpha1_p),y1_p+length_B1*sin(alpha1_p),0)

          cylinder rb (x2_p-length_B1*cos(alpha2_p),y2_p-length_B1*sin(alpha2_p),0) 
                      (x2_p+length_B1*cos(alpha2_p),y2_p+length_B1*sin(alpha2_p),0)

          cylinder rb (x3_p-length_B1*cos(alpha3_p),y3_p-length_B1*sin(alpha3_p),0) 
                      (x3_p+length_B1*cos(alpha3_p),y3_p+length_B1*sin(alpha3_p),0)

leg1_a: cylinder rb (0,0,0) (0,0,lenght_A)
        cylinder rb (-0.5*length_B1,0,0) 
                    (+0.5*length_B1,0,0)
        cylinder rb (-length_B1,0,lenght_A) 
                    (+length_B1,0,lenght_A)
         
leg2_a: cylinder rb (0,0,0) (0,0,lenght_A)
        cylinder rb (-0.5*length_B1,0,0) 
                    (+0.5*length_B1,0,0)
        cylinder rb (-length_B1,0,lenght_A) 
                    (+length_B1,0,lenght_A)

leg3_a: cylinder rb (0,0,0) (0,0,lenght_A)
        cylinder rb (-0.5*length_B1,0,0) 
                    (+0.5*length_B1,0,0)
        cylinder rb (-length_B1,0,lenght_A) 
                    (+length_B1,0,lenght_A)
        

[JOINTS]
%---------------------------------------------------------

revolute: base   (x1_b,y1_b,0)+(cos(alpha1_b),sin(alpha1_b),0)
          leg1_a (0,0,0)+(1,0,0)
          range [theta1_min,theta1_max] +(cos(beta1_b),sin(beta1_b),0) +(0,-1,0)

sph_sph: leg1_a  (-length_B1,0,lenght_A)
         platform (x1_p-length_B1*cos(alpha1_p),y1_p-length_B1*sin(alpha1_p),0) 
         length length_B
         radius rb 
         0.25*white

sph_sph: leg1_a  (+length_B1,0,lenght_A)
         platform (x1_p+length_B1*cos(alpha1_p),y1_p+length_B1*sin(alpha1_p),0) 
         length length_B
         radius rb 
         0.25*white

%---------------------------------------------------------

revolute: base   (x2_b,y2_b,0)+(cos(alpha2_b),sin(alpha2_b),0)
          leg2_a (0,0,0)+(1,0,0)
          range [theta2_min,theta2_max] +(cos(beta2_b),sin(beta2_b),0) +(0,-1,0)

sph_sph: leg2_a  (-length_B1,0,lenght_A)
         platform (x2_p-length_B1*cos(alpha2_p),y2_p-length_B1*sin(alpha2_p),0) 
         length length_B
         radius rb 
         0.25*white

sph_sph: leg2_a  (+length_B1,0,lenght_A)
         platform (x2_p+length_B1*cos(alpha2_p),y2_p+length_B1*sin(alpha2_p),0) 
         length length_B
         radius rb 
         0.25*white

%---------------------------------------------------------

revolute: base   (x3_b,y3_b,0)+(cos(alpha3_b),sin(alpha3_b),0)
          leg3_a (0,0,0)+(1,0,0)
          range [theta3_min,theta3_max] +(cos(beta3_b),sin(beta3_b),0) +(0,-1,0)

sph_sph: leg3_a  (-length_B1,0,lenght_A)
         platform (x3_p-length_B1*cos(alpha3_p),y3_p-length_B1*sin(alpha3_p),0) 
         length length_B
         radius rb 
         0.25*white

sph_sph: leg3_a  (+length_B1,0,lenght_A)
         platform (x3_p+length_B1*cos(alpha3_p),y3_p+length_B1*sin(alpha3_p),0) 
         length length_B
         radius rb 
         0.25*white

%---------------------------------------------------------
% fix: base platform Tz(1)