Mechanical-component PLANAR-MACE

• Defined in theory: Mace-domain
• Source code: mace-domain.lisp

Slots on this mechanical-component:

Documentation:

Planar-mace is the name of the system object for this assembly. It is the root of the component tree.

Instance-Of: Mechanical-component

Has-Parameter-Slot: Alpha, X, Y

Has-Subcomponent:

Bus-assy, Gimbal-1, Gimbal-2, Payload-1, Payload-2, Torque-wheel-assy

Other Related Axioms:

(= (Orientation (Reference-Frame Planar-Mace)
                (Reference-Frame Ground))
   (Simple-Rotation 3 (Alpha Planar-Mace)))

(= (Position (Reference-Point Gimbal-1-Base)
             (Reference-Point Planar-Mace))
   (* (Buslength Bus-Assy)
      (Basis.Vec (Reference-Frame Planar-Mace) 1)))

(= (Reference-Frame Gimbal-1-Base) (Reference-Frame Planar-Mace))

(= (Position (Reference-Point Gimbal-2-Base)
             (Reference-Point Planar-Mace))
   (* (- (Buslength Bus-Assy))
      (Basis.Vec (Reference-Frame Planar-Mace) 1)))

(= (Orientation (Reference-Frame Gimbal-2-Base)
                (Reference-Frame Planar-Mace))
   (Simple-Rotation 3 180))

(= (Reference-Point Bus-Assy) (Reference-Point Planar-Mace))

(= (Reference-Frame Bus-Assy) (Reference-Frame Planar-Mace))

(= (Reference-Point Actuator-Base) (Reference-Point Planar-Mace))

(= (Reference-Frame Actuator-Base) (Reference-Frame Planar-Mace))