WOLFRAM SYSTEMMODELER

DryFrictionBasedRolling

A joint representing a wheel with slip-based rolling (dry friction law) on the x-axis

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.Joints.DryFrictionBasedRolling"]
Out[1]:=

Information

Model SlipBasedRolling contains only one connector frame_a lying at the center of the wheel, where slip occurs between the wheel and ground and force caused by that is also taken into account.

The ground is hereby represented by the x-axis.

Parameters (9)

useHeatPort

Value: false

Type: Boolean

Description: =true, if heatPort is enabled

T

Value: 293.15

Type: Temperature (K)

Description: Fixed device temperature if useHeatPort = false

stateSelect

Value: StateSelect.default

Type: StateSelect

Description: Priority to use phi, w and a as states

R

Value: 1.0

Type: Length (m)

Description: Radius of the wheel

vAdhesion

Value:

Type: Velocity (m/s)

Description: Adhesion velocity

vSlide

Value:

Type: Velocity (m/s)

Description: Sliding velocity

mu_A

Value:

Type: Real

Description: Friction coefficient at adhesion

mu_S

Value:

Type: Real

Description: Friction coefficient at sliding

animate

Value: true

Type: Boolean

Description: Enable animation

Connectors (2)

heatPort

Type: HeatPort_a

Description: Optional port to which dissipated losses are transported in form of heat

frame_a

Type: Frame_a

Components (4)

planarWorld

Type: PlanarWorld

Description: Planar world model

cylinder

Type: Shape

rim1

Type: Shape

rim2

Type: Shape

Used in Examples (1)

CounterSpin

PlanarMechanics.Examples

Wheel with counter-spin and dry-friction law