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)

Information
CONNECTORS
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NameTypeDescription
frame_aFrame_aCoordinate system fixed to the component with one cut-force and cut-torque
frame_bFrame_bCoordinate system fixed to the component with one cut-force and cut-torque
PARAMETERS
NameTypeDefault ValueDescription
animationBooleantrue= true, if animation shall be enabled (show shape between frame_a and frame_b and optionally a sphere at the center of mass)
animateSphereBooleantrue= true, if mass shall be animated as sphere provided animation=true
rPosition[3]Vector from frame_a to frame_b resolved in frame_a
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)
shapeTypeShapeType"cylinder" Type of shape
r_shapePosition[3]{0,0,0} Vector from frame_a to shape origin, resolved in frame_a
lengthDirectionAxisr - r_shape Vector in length direction of shape, resolved in frame_a
widthDirectionAxis{0,1,0} Vector in width direction of shape, resolved in frame_a
lengthLengthModelica.Math.Vectors.length(r - r_shape) Length of shape
widthDistancelength/world.defaultWidthFraction Width of shape
heightDistancewidth Height of shape.
extraShapeExtra0.0 Additional parameter depending on shapeType (see docu of Visualizers.Advanced.Shape).
sphereDiameterDiameter2*width Diameter of sphere
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
USED IN EXAMPLES
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