This information is part of the Modelica Standard Library maintained by the Modelica Association.
The absolute angular velocity of frame_a with respect to the world frame is determined and provided at the output signal connector w.
Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:
|world||Resolve vector in world frame|
|frame_a||Resolve vector in frame_a|
|frame_resolve||Resolve vector in frame_resolve|
If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and w is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
w = MultiBody.Frames.angularVelocity2(frame_a.R);
Description: Frame in which output vector w shall be resolved (world, frame_a, or frame_resolve)
Description: Coordinate system a of which the absolute kinematic quantities are measured
Description: Absolute angular velocity vector of frame_a with respect to world frame, resolved in frame defined by resolveInFrame
Description: Coordinate system in which w is optionally resolved
Demonstrates the usage of a BevelGear1D model and how to calculate the power of such an element
Measure absolute kinematic quantities of frame connector