WOLFRAM SYSTEMMODELER

Fourbar1

One kinematic loop with four bars (with only revolute joints; 5 non-linear equations)

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Loops.Fourbar1"]
Out[1]:=

Information

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

This is a simple kinematic loop consisting of 6 revolute joints, 1 prismatic joint and 4 bars that is often used as basic constructing unit in mechanisms. This example demonstrates that usually no particular knowledge of the user is needed to handle kinematic loops. Just connect the joints and bodies together according to the real system. In particular no cut-joints or a spanning tree has to be determined. In this case, the initial condition of the angular velocity of revolute joint j1 is set to 300 deg/s in order to drive this loop.

model Examples.Loops.Fourbar1

Outputs (4)

j1_phi

Type: Angle (rad)

Description: angle of revolute joint j1

j2_s

Type: Position (m)

Description: distance of prismatic joint j2

j1_w

Type: AngularVelocity (rad/s)

Description: axis speed of revolute joint j1

j2_v

Type: Velocity (m/s)

Description: axis velocity of prismatic joint j2

Components (12)

world

Type: World

j1

Type: Revolute

j2

Type: Prismatic

b1

Type: BodyCylinder

b2

Type: BodyCylinder

b3

Type: BodyCylinder

rev

Type: Revolute

rev1

Type: Revolute

j3

Type: Revolute

j4

Type: Revolute

j5

Type: Revolute

b0

Type: FixedTranslation