WOLFRAM SYSTEM MODELER
RevoluteA revolute joint |
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SystemModel["PlanarMechanics.Joints.Revolute"]
Joint where frame_b rotates around axis n which is fixed in frame_a. The two frames coincide when the rotation angle "phi = 0".
Optionally, two additional 1-dimensional mechanical flanges (flange "flange_a" represents the driving flange and flange "support" represents the bearing) can be enabled via parameter useFlange. The enabled axis flange can be driven with elements of the Modelica.Mechanics.Rotational library.
In the "Initialization" block, angular position phi, angular velocity w as well as angular acceleration z can be initialized.
It can be defined via parameter (in "advanced" tab) stateSelect that the relative distance "s" and its derivative shall be definitely used as states by setting stateSelect=StateSelect.always.
In "Animation" group, animation parameters for this model can be set, where zPosition represents the model's position along the z axis in 3D animation. Some of the values can be preset by an outer PlanarWorld model.
useFlange |
Value: false Type: Boolean Description: = true, if force flange enabled, otherwise implicitly grounded |
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animate |
Value: true Type: Boolean Description: = true, if animation shall be enabled |
stateSelect |
Value: StateSelect.default Type: StateSelect Description: Priority to use phi and w as states |
zPosition |
Value: planarWorld.defaultZPosition Type: Length (m) Description: Position z of cylinder representing the joint axis |
cylinderLength |
Value: planarWorld.defaultJointLength Type: Distance (m) Description: Length of cylinder representing the joint axis |
cylinderDiameter |
Value: planarWorld.defaultJointWidth Type: Distance (m) Description: Diameter of cylinder representing the joint axis |
extraLine |
Value: false Type: Boolean Description: Enable black line in the cylinder to show the joint rotation |
cylinderColor |
Default Value: Types.Defaults.JointColor Type: Color Description: Color of cylinder representing the joint axis |
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specularCoefficient |
Default Value: planarWorld.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed) |
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frame_a |
Type: Frame_a Description: Coordinate system fixed to the component with one cut-force and cut-torque |
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frame_b |
Type: Frame_b Description: Coordinate system fixed to the component with one cut-force and cut-torque |
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flange_a |
Type: Flange_a |
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support |
Type: Flange_b Description: 1-dim. rotational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint) |
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planarWorld |
Type: PlanarWorld Description: Planar world model |
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cylinder |
Type: Shape |
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fixed |
Type: Fixed Description: support flange is fixed to ground |
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PlanarMechanics.Examples A free swinging pendulum |
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PlanarMechanics.Examples A swinging pendulum excited by a world force |
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PlanarMechanics.Examples Simple double pendulum with two revolute joints and two bodies |
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PlanarMechanics.Examples Measure demo |
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PlanarMechanics.Examples Power and distance sensor demo |
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PlanarMechanics.Examples A damped crane crab |
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PlanarMechanics.Examples A controlled crane crab |
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PlanarMechanics.Examples An inverted model of a pendulum |
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PlanarMechanics.Examples An example of a kinematic loop (manual state selection) |
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KinematicLoop_DynamicStateSelection PlanarMechanics.Examples An example of a kinematic loop |
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PlanarMechanics.Examples A piston engine (manual state selection) |
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PistonEngine_DynamicStateSelection PlanarMechanics.Examples A piston engine |
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PlanarMechanics.Examples A pendulum mounted on an ideal rolling wheel |
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PlanarMechanics.Examples A damped crane crab |
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PlanarMechanics.GearComponents.Examples Rigid spur gear |
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PlanarMechanics.VehicleComponents.Examples Test an ideal wheel |
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PlanarMechanics.VehicleComponents.Examples Dry friction wheel |
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PlanarMechanics.VehicleComponents.Examples A slip-based wheel |
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PlanarMechanics.VehicleComponents.Examples Single track model |
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PlanarMechanics.VehicleComponents.Examples Double track model |
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PlanarMechanics.GearComponents.Examples.Utilities Planetary gearbox |
Developed 2010-2019 at the DLR Institute of System Dynamics and Control