This information is part of the Modelica Standard Library maintained by the Modelica Association.

Body

Rigid body with mass, inertia tensor and one frame connector (12 potential states)

Information
CONNECTORS
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NameTypeDescription
frame_aFrame_aCoordinate system fixed at body
PARAMETERS
NameTypeDefault ValueDescription
animationBooleantrue= true, if animation shall be enabled (show cylinder and sphere)
r_CMPosition[3]Vector from frame_a to center of mass, resolved in frame_a
mMassMass of rigid body
I_11Inertia0.001 (1,1) element of inertia tensor
I_22Inertia0.001 (2,2) element of inertia tensor
I_33Inertia0.001 (3,3) element of inertia tensor
I_21Inertia0 (2,1) element of inertia tensor
I_31Inertia0 (3,1) element of inertia tensor
I_32Inertia0 (3,2) element of inertia tensor
angles_fixedBooleanfalse= true, if angles_start are used as initial values, else as guess values
angles_startAngle[3]{0,0,0}Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b
sequence_startRotationSequence{1,2,3}Sequence of rotations to rotate frame_a into frame_b at initial time
w_0_fixedBooleanfalse= true, if w_0_start are used as initial values, else as guess values
w_0_startAngularVelocity[3]{0,0,0}Initial or guess values of angular velocity of frame_a resolved in world frame
z_0_fixedBooleanfalse= true, if z_0_start are used as initial values, else as guess values
z_0_startAngularAcceleration[3]{0,0,0}Initial values of angular acceleration z_0 = der(w_0)
sphereDiameterDiameterworld.defaultBodyDiameterDiameter of sphere
cylinderDiameterDiametersphereDiameter/Types.Defaults.BodyCylinderDiameterFractionDiameter of cylinder
enforceStatesBooleanfalse = true, if absolute variables of body object shall be used as states (StateSelect.always)
useQuaternionsBooleantrue = true, if quaternions shall be used as potential states otherwise use 3 angles as potential states
sequence_angleStatesRotationSequence{1,2,3} Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states
IInertia[3,3][I_11,I_21,I_31;I_21,I_22,I_32;I_31,I_32,I_33]inertia tensor
R_startOrientationModelica.Mechanics.MultiBody.Frames.axesRotations(sequence_start, angles_start, zeros(3))Orientation object from world frame to frame_a at initial time
z_a_startAngularAcceleration[3]Frames.resolve2(R_start, z_0_start)Initial values of angular acceleration z_a = der(w_a), i.e., time derivative of angular velocity resolved in frame_a
Q_startOrientationFrames.to_Q(R_start)Quaternion orientation object from world frame to frame_a at initial time
phi_startAngle[3]if sequence_start[1] == sequence_angleStates[1] and sequence_start[2] == sequence_angleStates[2] and sequence_start[3] == sequence_angleStates[3] then angles_start else Frames.axesRotationsAngles(R_start, sequence_angleStates)Potential angle states at initial time
USED IN EXAMPLES
Modelica.Mechanics.MultiBody.Examples.Loops.PlanarLoops_analytic
Mechanism with three planar kinematic loops and one degree-of-freedom with analytic loop handling (with JointRRR joints)
Modelica.Mechanics.MultiBody.Examples.Elementary.ThreeSprings
3-dim. springs in series and parallel connection
Modelica.Mechanics.MultiBody.Examples.Elementary.SpringWithMass
Point mass hanging on a spring
Modelica.Mechanics.MultiBody.Examples.Elementary.SpringMassSystem
Mass attached with a spring to the world frame
Modelica.Mechanics.MultiBody.Examples.Elementary.SpringDamperSystem
Simple spring/damper/mass system
Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling
Rolling wheel set that is pulled by a force
Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving
Rolling wheel set that is driven by torques driving the wheels
Modelica.Mechanics.MultiBody.Examples.Elementary.PointGravity
Two point masses in a point gravity field
Modelica.Mechanics.MultiBody.Examples.Elementary.PendulumWithSpringDamper
Simple spring/damper/mass system
Modelica.Mechanics.MultiBody.Examples.Elementary.Pendulum
Simple pendulum with one revolute joint and one body
Modelica.Mechanics.MultiBody.Examples.Elementary.LineForceWithTwoMasses
Demonstrate line force with two point masses using a JointUPS and alternatively a LineForceWithTwoMasses component
USED IN COMPONENTS
Modelica.Mechanics.MultiBody.Parts.BodyShape
Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)
Modelica.Mechanics.MultiBody.Parts.BodyBox
Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)
Modelica.Mechanics.MultiBody.Parts.BodyCylinder
Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states)
Modelica.Mechanics.MultiBody.Parts.RollingWheel
Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom)
Modelica.Mechanics.MultiBody.Parts.RollingWheelSet
Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis