WOLFRAM SYSTEMMODELER

RollingWheelSet

Joint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis)

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Joints.RollingWheelSet"]
Out[1]:=

Information

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

An assembly joint for a wheelset rolling on the x-y plane of the world frame. The frames frame1 and frame2 are connected to rotating wheels; the frameMiddle moves in a plane parallel to the x-y plane of the world and should be connected to the vehicle body.

Note

To work properly, the gravity acceleration vector g of the world must point in the negative z-axis, i.e.

inner Modelica.Mechanics.MultiBody.World world(n={0,0,-1});

Parameters (4)

animation

Value: true

Type: Boolean

Description: = true, if animation of wheel set shall be enabled

wheelRadius

Value:

Type: Radius (m)

Description: Radius of one wheel

wheelDistance

Value:

Type: Distance (m)

Description: Distance between the two wheels

stateSelect

Value: StateSelect.default

Type: StateSelect

Description: Priority to use the generalized coordinates as states

Connectors (6)

frameMiddle

Type: Frame_a

Description: Frame fixed in middle of axis connecting both wheels (y-axis: along wheel axis, z-Axis: upwards)

frame1

Type: Frame_a

Description: Frame fixed in center point of left wheel (y-axis: along wheel axis, z-Axis: upwards)

frame2

Type: Frame_b

Description: Frame fixed in center point of right wheel (y-axis: along wheel axis, z-Axis: upwards)

axis1

Type: Flange_a

Description: 1-dim. rotational flange that drives the joint

axis2

Type: Flange_a

Description: 1-dim. rotational flange that drives the joint

support

Type: Flange_b

Description: Support of 1D axes

Components (11)

fixed

Type: Fixed

rod1

Type: FixedTranslation

prismatic1

Type: Prismatic

prismatic2

Type: Prismatic

revolute

Type: Revolute

rod2

Type: FixedTranslation

revolute1

Type: Revolute

revolute2

Type: Revolute

rolling1

Type: RollingConstraintVerticalWheel

rolling2

Type: RollingConstraintVerticalWheel

mounting1D

Type: Mounting1D

Used in Components (1)

RollingWheelSet

Modelica.Mechanics.MultiBody.Parts

Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis