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

# BodyShape

Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

CONNECTORS

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Name | Type | Description | |
---|---|---|---|

frame_a | Frame_a | Coordinate system fixed to the component with one cut-force and cut-torque | |

frame_b | Frame_b | Coordinate system fixed to the component with one cut-force and cut-torque |

PARAMETERS

Name | Type | Default Value | Description |
---|---|---|---|

animation | Boolean | true | = true, if animation shall be enabled (show shape between frame_a and frame_b and optionally a sphere at the center of mass) |

animateSphere | Boolean | true | = true, if mass shall be animated as sphere provided animation=true |

r | Position[3] | Vector from frame_a to frame_b resolved in frame_a | |

r_CM | Position[3] | Vector from frame_a to center of mass, resolved in frame_a | |

m | Mass | Mass of rigid body | |

I_11 | Inertia | 0.001 | (1,1) element of inertia tensor |

I_22 | Inertia | 0.001 | (2,2) element of inertia tensor |

I_33 | Inertia | 0.001 | (3,3) element of inertia tensor |

I_21 | Inertia | 0 | (2,1) element of inertia tensor |

I_31 | Inertia | 0 | (3,1) element of inertia tensor |

I_32 | Inertia | 0 | (3,2) element of inertia tensor |

angles_fixed | Boolean | false | = true, if angles_start are used as initial values, else as guess values |

angles_start | Angle[3] | {0,0,0} | Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b |

sequence_start | RotationSequence | {1,2,3} | Sequence of rotations to rotate frame_a into frame_b at initial time |

w_0_fixed | Boolean | false | = true, if w_0_start are used as initial values, else as guess values |

w_0_start | AngularVelocity[3] | {0,0,0} | Initial or guess values of angular velocity of frame_a resolved in world frame |

z_0_fixed | Boolean | false | = true, if z_0_start are used as initial values, else as guess values |

z_0_start | AngularAcceleration[3] | {0,0,0} | Initial values of angular acceleration z_0 = der(w_0) |

shapeType | ShapeType | "cylinder" | Type of shape |

r_shape | Position[3] | {0,0,0} | Vector from frame_a to shape origin, resolved in frame_a |

lengthDirection | Axis | r - r_shape | Vector in length direction of shape, resolved in frame_a |

widthDirection | Axis | {0,1,0} | Vector in width direction of shape, resolved in frame_a |

length | Length | Modelica.Math.Vectors.length(r - r_shape) | Length of shape |

width | Distance | length/world.defaultWidthFraction | Width of shape |

height | Distance | width | Height of shape. |

extra | ShapeExtra | 0.0 | Additional parameter depending on shapeType (see docu of Visualizers.Advanced.Shape). |

sphereDiameter | Diameter | 2*width | Diameter of sphere |

enforceStates | Boolean | false | = true, if absolute variables of body object shall be used as states (StateSelect.always) |

useQuaternions | Boolean | true | = true, if quaternions shall be used as potential states otherwise use 3 angles as potential states |

sequence_angleStates | RotationSequence | {1,2,3} | Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states |

USED IN EXAMPLES

Modelica.Mechanics.MultiBody.Examples.Elementary.InitSpringConstant Determine spring constant such that system is in steady state at given position | |

Modelica.Mechanics.MultiBody.Examples.Elementary.FreeBody Free flying body attached by two springs to environment | |

Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.ActuatedDrive | |

Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive |

USED IN COMPONENTS

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.MechanicalStructure Model of the mechanical part of the r3 robot (without animation) | |

Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.CylinderBase One cylinder with analytic handling of kinematic loop | |

Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.Cylinder_analytic_CAD One cylinder with analytic handling of kinematic loop and CAD visualization | |

Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.EngineV6_analytic V6 engine with analytic loop handling |