WOLFRAM SYSTEMMODELER

RollingWheel

Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom)

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Parts.RollingWheel"]
Out[1]:=

Information

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

A wheel rolling on the x-y plane of the world frame including wheel mass and simple visualization. The rolling contact is considered being ideal, i.e. there is no slip between the wheel and the ground. The wheel can not take off but it can incline toward the ground. The frame frame_a is placed in the wheel center point and rotates with the wheel itself. Therefore, a rotational joint with rotation axis n={0,1,0} should be used to connect the wheel to a carrier.

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 (9)

animation

Value: true

Type: Boolean

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

wheelRadius

Value:

Type: Radius (m)

Description: Radius of wheel

wheelMass

Value:

Type: Mass (kg)

Description: Mass of wheel

wheel_I_axis

Value:

Type: Inertia (kg·m²)

Description: Inertia along the wheel axis

wheel_I_long

Value:

Type: Inertia (kg·m²)

Description: Inertia perpendicular to the wheel axis

stateSelect

Value: StateSelect.always

Type: StateSelect

Description: Priority to use generalized coordinates as states

width

Value: 0.035

Type: Distance (m)

Description: Width of wheel

hollowFraction

Value: 0.8

Type: Real

Description: 1.0: Completely hollow, 0.0: rigid cylinder

wheelColor

Value: {30, 30, 30}

Type: Color

Description: Color of wheel

Connectors (1)

frame_a

Type: Frame_a

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

Components (3)

body

Type: Body

rollingWheel

Type: RollingWheel

fixedShape

Type: FixedShape

Used in Examples (1)

RollingWheel

Modelica.Mechanics.MultiBody.Examples.Elementary

Single wheel rolling on ground starting from an initial speed