WOLFRAM SYSTEM MODELER

Rotation

Fixed translation followed by a rotation of frame_b with respect to frame_a. This component rotates frame_a around an angle with a fixed axis.

Wolfram Language

In[1]:=
SystemModel["DocumentationExamples.Control.BallAndBeam.Rotation"]
Out[1]:=

Information

Component for a fixed translation and a rotation of frame_b with respect to frame_a. This is a planar rotation along axis 'n' (that is fixed and resolved in frame_a) with an angle 'angle'.

By default, this component is visualized by a cylinder connecting frame_a and frame_b. Note that the two visualized frames are not part of the component animation and that the animation may be switched off via parameter animation = false.

Parameters (11)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled

r

Value: {0, 0, 0}

Type: Position[3] (m)

Description: Vector from frame_a to frame_b resolved in frame_a

n

Value: {1, 0, 0}

Type: Axis

Description: Axis of rotation in frame_a (= same as in frame_b)

shapeType

Value: "cylinder"

Type: ShapeType

Description: Type of shape

r_shape

Value: {0, 0, 0}

Type: Position[3] (m)

Description: Vector from frame_a to shape origin, resolved in frame_a

lengthDirection

Value: Modelica.Units.Conversions.to_unit1(r - r_shape)

Type: Axis

Description: Vector in length direction of shape, resolved in frame_a

widthDirection

Value: {0, 1, 0}

Type: Axis

Description: Vector in width direction of shape, resolved in frame_a

length

Value: Modelica.Math.Vectors.length(r - r_shape)

Type: Length (m)

Description: Length of shape

width

Value: length / world.defaultWidthFraction

Type: Distance (m)

Description: Width of shape

height

Value: width

Type: Distance (m)

Description: Height of shape

extra

Value: 0

Type: ShapeExtra

Description: Additional parameter depending on shapeType (see docu of Visualizers.Advanced.Shape)

Inputs (3)

angle

Type: Angle (rad)

Description: Angle to rotate frame_a around axis n into frame_b

color

Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.RodColor

Type: Color

Description: Color of shape

specularCoefficient

Default Value: world.defaultSpecularCoefficient

Type: SpecularCoefficient

Description: Reflection of ambient light (= 0: light is completely absorbed)

Connectors (2)

frame_a

Type: Frame_a

Description: Coordinate system fixed to the component with one cut-force and cut-torque

frame_b

Type: Frame_b

Description: Coordinate system fixed to the component with one cut-force and cut-torque

Components (4)

R_rel

Type: Orientation

Description: Fixed rotation object from frame_a to frame_b

world

Type: World

Description: World coordinate system + gravity field + default animation definition

R_rel_inv

Type: Orientation

Description: Inverse of R_rel (rotate from frame_b to frame_a)

shape

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

Used in Examples (1)

BallAndBeam

DocumentationExamples.Control

Simple model of a ball on a beam, rolling without slipping