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

FixedRotation

Fixed translation followed by a fixed rotation of frame_b with respect to frame_a

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
rPosition[3]{0,0,0}Vector from frame_a to frame_b resolved in frame_a
rotationTypeRotationTypesModelica.Mechanics.MultiBody.Types.RotationTypes.RotationAxisType of rotation description
nAxis{1,0,0} Axis of rotation in frame_a (= same as in frame_b)
angleAngle_deg0 Angle to rotate frame_a around axis n into frame_b
n_xAxis{1,0,0} Vector along x-axis of frame_b resolved in frame_a
n_yAxis{0,1,0} Vector along y-axis of frame_b resolved in frame_a
sequenceRotationSequence{1,2,3} Sequence of rotations
anglesAngle_deg[3]{0,0,0} Rotation angles around the axes defined in 'sequence'
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).
R_relOrientationif rotationType == 1 then Frames.planarRotation(Modelica.Math.Vectors.normalize(n), Cv.from_deg(angle), 0) else if rotationType == 2 then Frames.from_nxy(n_x, n_y) else Frames.axesRotations(sequence, Cv.from_deg(angles), zeros(3))Fixed rotation object from frame_a to frame_b
R_rel_invOrientationFrames.from_T(transpose(R_rel.T), zeros(3))Inverse of R_rel (rotate from frame_b to frame_a)
USED IN EXAMPLES
Modelica.Mechanics.MultiBody.Examples.Elementary.ForceAndTorque
Demonstrate usage of ForceAndTorque element
Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.GyroscopicEffects
Demonstrates that a cylindrical body can be replaced by Rotor1D model
USED IN COMPONENTS
Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.Cylinder
Cylinder with rod and crank of a combustion engine
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