WOLFRAM SYSTEMMODELER

Fixed

Frame fixed in the world frame at a given position

Wolfram Language

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Click for copyable input
SystemModel["Modelica.Mechanics.MultiBody.Parts.Fixed"]
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Information

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

Element consisting of a frame (frame_b) that is fixed in the world frame at a given position defined by parameter vector r (vector from origin of world frame to frame_b, resolved in the world frame).

By default, this component is visualized by a cylinder connecting the world frame and frame_b of this components, as shown in the figure below. Note, that the visualized world frame on the left side and Fixed.frame_b on the right side are not part of the component animation and that the animation may be switched off via parameter animation = false.

Parts.Fixed

Connectors (1)

frame_b

Type: Frame_b

Description: Coordinate system fixed in the world frame

Parameters (10)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled

r

Value: {0, 0, 0}

Type: Position[3] (m)

Description: Position vector from world frame to frame_b, resolved in world frame

shapeType

Value: "cylinder"

Type: ShapeType

Description: Type of shape

r_shape

Value: {0, 0, 0}

Type: Position[3] (m)

Description: Vector from world frame to shape origin, resolved in world frame

lengthDirection

Value: to_unit1(r - r_shape)

Type: Axis ()

Description: Vector in length direction of shape, resolved in world frame

widthDirection

Value: {0, 1, 0}

Type: Axis ()

Description: Vector in width direction of shape, resolved in world frame

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 for cone, pipe etc. (see docu of Visualizers.Advanced.Shape)

Components (2)

world

Type: World

Description:

shape

Type: Shape

Description:

Used in Examples (7)

ForceAndTorque

Demonstrate usage of ForceAndTorque element

InitSpringConstant

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

GyroscopicEffects

Demonstrates that a cylindrical body can be replaced by Rotor1D model

ActuatedDrive

Demonstrates usage of models Rotor1D and Mounting1D

MovingActuatedDrive

Demonstrates usage of model Rotor1D mounted on a moving body

GearConstraint

Demonstrate usage of GearConstraint model

Ground

Visualizing the ground (box in z=0)

Used in Components (1)

RollingWheelSet

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