WOLFRAM SYSTEM MODELER

WheelBasedCraneCrab

A pendulum mounted on an ideal rolling wheel

Diagram

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.Examples.WheelBasedCraneCrab"]
Out[1]:=

Information

This model contains non-holonomic constraints.

Diagram WheelBasedCraneCrab_1
Diagram WheelBasedCraneCrab_2

Selected continuous time states

  • body1.frame_a.phi
  • body1.r[1]
  • body1.w
  • revolute.phi
  • revolute.w

Components (6)

idealRolling

Type: IdealRolling

Description: A joint representing a wheel ideally rolling on the x-axis
body

Type: Body

Description: Body component with mass and inertia
revolute

Type: Revolute

Description: A revolute joint
fixedTranslation

Type: FixedTranslation

Description: A fixed translation between two components (rigid rod)
body1

Type: Body

Description: Body component with mass and inertia
planarWorld

Type: PlanarWorld

Description: Planar world coordinate system + gravity field + default animation definition

Revisions

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