WOLFRAM SYSTEMMODELER

RollingWheelSet

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

Diagram

Wolfram Language

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

Information

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

Two wheels are connected by an axis and can rotate around this axis. The wheels are rolling on the x-y plane of the world frame. The coordinate system attached to the center of the wheel axis (frameMiddle) is constrained so that it is always parallel to the x-y plane. If all generalized coordinates are zero, frameMiddle is parallel to the world frame.

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 (10)

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

wheelMass

Value:

Type: Mass (kg)

Description: Mass of one wheel

wheel_I_axis

Value:

Type: Inertia (kg·m²)

Description: Inertia along one wheel axis

wheel_I_long

Value:

Type: Inertia (kg·m²)

Description: Inertia perpendicular to one wheel axis

wheelDistance

Value:

Type: Distance (m)

Description: Distance between the two wheels

stateSelect

Value: StateSelect.always

Type: StateSelect

Description: Priority to use the generalized coordinates as states

wheelWidth

Value: 0.01

Type: Distance (m)

Description: Width of one 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 wheels

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 left wheel

axis2

Type: Flange_a

Description: 1-dim. rotational flange that drives the right wheel

support

Type: Flange_b

Description: Support of 1D axes

Components (5)

body2

Type: Body

shape2

Type: FixedShape

body1

Type: Body

shape1

Type: FixedShape

wheelSetJoint

Type: RollingWheelSet

Used in Examples (2)

RollingWheelSetDriving

Modelica.Mechanics.MultiBody.Examples.Elementary

Rolling wheel set that is driven by torques driving the wheels

RollingWheelSetPulling

Modelica.Mechanics.MultiBody.Examples.Elementary

Rolling wheel set that is pulled by a force