WOLFRAM SYSTEMMODELER

BodyShape

Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

Diagram

Wolfram Language

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SystemModel["Modelica.Mechanics.MultiBody.Parts.BodyShape"]
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Information

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

Rigid body with mass and inertia tensor and two frame connectors. All parameter vectors have to be resolved in frame_a. The inertia tensor has to be defined with respect to a coordinate system that is parallel to frame_a with the origin at the center of mass of the body. The coordinate system frame_b is always parallel to frame_a.

By default, this component is visualized by any shape that can be defined with Modelica.Mechanics.MultiBody.Visualizers.FixedShape. This shape is placed between frame_a and frame_b (default: length(shape) = Frames.length(r)). Additionally a sphere may be visualized that has its center at the center of mass. Note, that the animation may be switched off via parameter animation = false.

Parts.BodyShape

The following shapes can be defined via parameter shapeType, e.g., shapeType="cone":

Visualizers.FixedShape

A BodyShape component has potential states. For details of these states and of the "Advanced" menu parameters, see model MultiBody.Parts.Body.

Connectors (2)

frame_a

Type: Frame_a

Description: Coordinate system fixed to the component with one cut-force and cut-torque

frame_b

Type: Frame_b

Description: Coordinate system fixed to the component with one cut-force and cut-torque

Parameters (30)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled (show shape between frame_a and frame_b and optionally a sphere at the center of mass)

animateSphere

Value: true

Type: Boolean

Description: = true, if mass shall be animated as sphere provided animation=true

r

Value:

Type: Position[3] (m)

Description: Vector from frame_a to frame_b resolved in frame_a

r_CM

Value:

Type: Position[3] (m)

Description: Vector from frame_a to center of mass, resolved in frame_a

m

Value:

Type: Mass (kg)

Description: Mass of rigid body

I_11

Value: 0.001

Type: Inertia (kg·m²)

Description: (1,1) element of inertia tensor

I_22

Value: 0.001

Type: Inertia (kg·m²)

Description: (2,2) element of inertia tensor

I_33

Value: 0.001

Type: Inertia (kg·m²)

Description: (3,3) element of inertia tensor

I_21

Value: 0

Type: Inertia (kg·m²)

Description: (2,1) element of inertia tensor

I_31

Value: 0

Type: Inertia (kg·m²)

Description: (3,1) element of inertia tensor

I_32

Value: 0

Type: Inertia (kg·m²)

Description: (3,2) element of inertia tensor

angles_fixed

Value: false

Type: Boolean

Description: = true, if angles_start are used as initial values, else as guess values

angles_start

Value: {0, 0, 0}

Type: Angle[3] (rad)

Description: Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b

sequence_start

Value: {1, 2, 3}

Type: RotationSequence

Description: Sequence of rotations to rotate frame_a into frame_b at initial time

w_0_fixed

Value: false

Type: Boolean

Description: = true, if w_0_start are used as initial values, else as guess values

w_0_start

Value: {0, 0, 0}

Type: AngularVelocity[3] (rad/s)

Description: Initial or guess values of angular velocity of frame_a resolved in world frame

z_0_fixed

Value: false

Type: Boolean

Description: = true, if z_0_start are used as initial values, else as guess values

z_0_start

Value: {0, 0, 0}

Type: AngularAcceleration[3] (rad/s²)

Description: Initial values of angular acceleration z_0 = der(w_0)

shapeType

Value: "cylinder"

Type: ShapeType

Description: Type of shape

r_shape

Value: {0, 0, 0}

Type: Position[3] (m)

Description: Vector from frame_a to shape origin, resolved in frame_a

lengthDirection

Value: to_unit1(r - r_shape)

Type: Axis ()

Description: Vector in length direction of shape, resolved in frame_a

widthDirection

Value: {0, 1, 0}

Type: Axis ()

Description: Vector in width direction of shape, resolved in frame_a

length

Value: Modelica.Math.Vectors.length(r - r_shape)

Type: Length (m)

Description: Length of shape

width

Value: length / world.defaultWidthFraction

Type: Distance (m)

Description: Width of shape

height

Value: width

Type: Distance (m)

Description: Height of shape

extra

Value: 0.0

Type: ShapeExtra

Description: Additional parameter depending on shapeType (see docu of Visualizers.Advanced.Shape)

sphereDiameter

Value: 2 * width

Type: Diameter (m)

Description: Diameter of sphere

enforceStates

Value: false

Type: Boolean

Description: = true, if absolute variables of body object shall be used as states (StateSelect.always)

useQuaternions

Value: true

Type: Boolean

Description: = true, if quaternions shall be used as potential states otherwise use 3 angles as potential states

sequence_angleStates

Value: {1, 2, 3}

Type: RotationSequence

Description: Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states

Components (5)

frameTranslation

Type: FixedTranslation

Description:

body

Type: Body

Description:

world

Type: World

Description:

shape1

Type: Shape

Description:

shape2

Type: Shape

Description:

Used in Examples (8)

FreeBody

Free flying body attached by two springs to environment

InitSpringConstant

Determine spring constant such that system is in steady state at given position

ActuatedDrive

Demonstrates usage of models Rotor1D and Mounting1D

MovingActuatedDrive

Demonstrates usage of model Rotor1D mounted on a moving body

PrismaticConstraint

Body attached by one spring and two prismatic joints or constrained to environment

RevoluteConstraint

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

SphericalConstraint

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

UniversalConstraint

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

Used in Components (5)

CylinderBase

One cylinder with analytic handling of kinematic loop

Cylinder_analytic_CAD

One cylinder with analytic handling of kinematic loop and CAD visualization

EngineV6_analytic

V6 engine with analytic loop handling

Cylinder

Cylinder type

MechanicalStructure

Model of the mechanical part of the r3 robot (without animation)