WOLFRAM SYSTEMMODELER

SphericalConstraint

Body attached by one spring and spherical joint or constrained to environment

Diagram

Wolfram Language

In[1]:=
Click for copyable input
SystemModel["Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint"]
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Information

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

This example demonstrates the functionality of constraint representing spherical joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by spherical joint or by appropriate constraint. Therefore, the body can only perform spherical movement depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict position deviations in the constraining element.

Parameters (1)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled

Components (11)

joint

Type: Spherical

Description:

constraint

Type: Spherical

Description:

sensorConstraintRelative

Type: RelativeSensor

Description:

bodyOfJoint

Type: BodyShape

Description:

bodyOfConstraint

Type: BodyShape

Description:

springOfJoint

Type: Spring

Description:

springOfConstraint

Type: Spring

Description:

world

Type: World

Description:

fixedRotation

Type: FixedRotation

Description:

fixedTranslation

Type: FixedTranslation

Description:

freeMotionScalarInit

Type: FreeMotionScalarInit

Description: