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WOLFRAM SYSTEM MODELER

Fourbar_analytic

One kinematic loop with four bars (with JointSSP joint; analytic solution of non-linear algebraic loop)

Diagram

Wolfram Language

In[1]:=

SystemModel["Modelica.Mechanics.MultiBody.Examples.Loops.Fourbar_analytic"]

Out[1]:=

Information

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

This is a third version of the "four-bar" mechanism, see figure:

In this case the three revolute joints on the left top-side and the two revolute joints on the right top side have been replaced by the assembly joint Joints.Assemblies.JointSSP which consists of two spherical joints and one prismatic joint. Since JointSSP solves the non-linear constraint equation internally analytically, no non-linear equation appears any more and a Modelica translator can transform the system into state space form without solving a system of equations. For more details, see MultiBody.UsersGuide.Tutorial.LoopStructures.AnalyticLoopHandling.

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 (6)

	world	Type: World Description: World coordinate system + gravity field + default animation definition
	j1	Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
	b1	Type: BodyCylinder Description: Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states)
	b3	Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a
	jointSSP	Type: JointSSP Description: Spherical - spherical - prismatic joint aggregation with mass (no constraints, no potential states)
	b2	Type: BodyCylinder Description: Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states)