WOLFRAM SYSTEMMODELER

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:

model Examples.Loops.Fourbar_analytic

In this case the three revolute joints on the left top-side and the two revolute joints on the right top side have been replaced by the assembly joint Joints.Assemblies.JointSSP which consists of two spherical joints and one prismatic joint.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

j1

Type: Revolute

b1

Type: BodyCylinder

b3

Type: FixedTranslation

jointSSP

Type: JointSSP

b2

Type: BodyCylinder