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WOLFRAM SYSTEM MODELER

ChainLink

Chain link consisting of a rotation and a body box.

Diagram

Wolfram Language

In[1]:=

SystemModel["IntroductoryExamples.CustomComponent.ChainLink"]

Out[1]:=

Information

The chain link component is created with the help of the Modelica.Mechanics.MultiBody and Modelica.Mechanics.Rotational libraries. The chain link is inspired by the pendulum example in MultiBody library and consists of a body rotating around one end.

The chain link is modeled by a box body connected to a revolute joint. The rotation friction is represented with a damper. For the model to be used as a component, connectors to both ends of the body are added with the help of the connection line tool. The dimension (length, width, height) of the chain link and the damping coefficient are chosen as parameters to make the component more flexible.

The chain link component is used in the chain pendulum model.

For a step by step tutorial see Custom Component—Chain Pendulum.

Parameters (2)

r	Value: {1, 0.1, 0.1} Type: Position[3] (m) Description: Dimension vector of chain link, (length, width, height)
d	Value: 1.0 Type: RotationalDampingConstant (N⋅m⋅s/rad) Description: Damping constant

Value: {1, 0.1, 0.1}

Type: Position[3] (m)

Description: Dimension vector of chain link, (length, width, height)

Value: 1.0

Type: RotationalDampingConstant (N⋅m⋅s/rad)

Description: Damping constant

Connectors (2)

	frame_a	Type: Frame_a Description: Coordinate system fixed to the component with one cut-force and cut-torque (filled rectangular icon)
	frame_b	Type: Frame_b Description: Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon)

frame_a

Type: Frame_a

Description: Coordinate system fixed to the component with one cut-force and cut-torque (filled rectangular icon)

frame_b

Type: Frame_b

Description: Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon)

Components (3)

	revolute1	Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
	bodyBox1	Type: BodyBox Description: Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)
	damper1	Type: Damper Description: Linear 1D rotational damper