WOLFRAM SYSTEMMODELER

PlanarWorld

Planar world coordinate system + gravity field + default animation definition

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.PlanarWorld"]
Out[1]:=

Information

Model PlanarWorld defines all possible general parameters to make parameterization of models much more convenient. It has the following functionalites.

  1. It defines the global coordinate system fixed in ground and shows the x, y, z axes in animation if wanted.
  2. It contains all default parameters for animation, e.g. axis diameter, default joint length etc, which can still be overwritten by setting parameters in these models.
  3. It provides the default gravity definition and its animation.


The pure planar world cannot be coupled to the 3D world. It shall be used when no outer 3D world is available.

Parameters (29)

constantGravity

Value: {0, -9.81}

Type: Acceleration[2] (m/s²)

Description: Constant gravity acceleration vector resolved in world frame

enableAnimation

Value: true

Type: Boolean

Description: = true, if animation of all components is enabled

animateWorld

Value: true

Type: Boolean

Description: = true, if world coordinate system shall be visualized

animateGravity

Value: true

Type: Boolean

Description: = true, if gravity field shall be visualized (acceleration vector or field center)

label1

Value: "x"

Type: String

Description: Label of horizontal axis in icon

label2

Value: "y"

Type: String

Description: Label of vertical axis in icon

axisLength

Value: nominalLength / 2

Type: Length (m)

Description: Length of world axes arrows

axisDiameter

Value: axisLength / defaultFrameDiameterFraction

Type: Diameter (m)

Description: Diameter of world axes arrows

axisShowLabels

Value: true

Type: Boolean

Description: = true, if labels shall be shown

axisColor_x

Value: Types.Defaults.FrameColor

Type: Color

Description: Color of x-arrow

axisColor_y

Value: axisColor_x

Type: Color

Description: Color of y-arrow

axisColor_z

Value: axisColor_x

Type: Color

Description: Color of z-arrow

gravityArrowTail

Value: {0, 0}

Type: Position[2] (m)

Description: Position vector from origin of world frame to arrow tail, resolved in world frame

gravityArrowLength

Value: axisLength / 2

Type: Length (m)

Description: Length of gravity arrow

gravityArrowDiameter

Value: gravityArrowLength / defaultWidthFraction

Type: Diameter (m)

Description: Diameter of gravity arrow

gravityArrowColor

Value: {0, 180, 0}

Type: Color

Description: Color of gravity arrow

defaultZPosition

Value: 0

Type: Length (m)

Description: Default for z positions of all the elements

nominalLength

Value: 1

Type: Length (m)

Description: "Nominal" length of PlanarMechanics

defaultJointLength

Value: nominalLength / 10

Type: Length (m)

Description: Default for the fixed length of a shape representing a joint

defaultJointWidth

Value: nominalLength / 10

Type: Length (m)

Description: Default for the fixed width of a shape representing a joint

defaultBodyDiameter

Value: nominalLength / 9

Type: Diameter (m)

Description: Default for diameter of sphere representing the center of mass of a body

defaultWidthFraction

Value: 20

Type: Real

Description: Default for shape width as a fraction of shape length (e.g., for Parts.FixedTranslation)

defaultArrowDiameter

Value: nominalLength / 40

Type: Diameter (m)

Description: Default for arrow diameter (e.g., of forces, torques, sensors)

defaultForceLength

Value: nominalLength / 10

Type: Length (m)

Description: Default for the fixed length of a shape representing a force (e.g., damper)

defaultForceWidth

Value: nominalLength / 20

Type: Length (m)

Description: Default for the fixed width of a shape represening a force (e.g., spring, bushing)

defaultFrameDiameterFraction

Value: 40

Type: Real

Description: Default for arrow diameter of a coordinate system as a fraction of axis length

defaultSpecularCoefficient

Value: 0.7

Type: SpecularCoefficient

Description: Default reflection of ambient light (= 0: light is completely absorbed)

defaultN_to_m

Value: 1000

Type: Real (N/m)

Description: Default scaling of force arrows (length = force/defaultN_to_m)

defaultNm_to_m

Value: 1000

Type: Real (N·m/m)

Description: Default scaling of torque arrows (length = torque/defaultNm_to_m)

Components (3)

R

Type: Orientation

Description: Orientation object to rotate the world frame into the connector frame

coordinateSystem

Type: CoordinateSystem

gravityArrow

Type: Arrow

Used in Examples (23)

FreeBody

PlanarMechanics.Examples

A simple free falling body

Pendulum

PlanarMechanics.Examples

A free swinging pendulum

PendulumExcited

PlanarMechanics.Examples

A swinging pendulum excited by a world force

DoublePendulum

PlanarMechanics.Examples

Simple double pendulum with two revolute joints and two bodies

MeasureDemo

PlanarMechanics.Examples

Measure demo

PowerDistanceDemo

PlanarMechanics.Examples

Power and distance sensor demo

CraneCrab

PlanarMechanics.Examples

A damped crane crab

ControlledCraneCrab

PlanarMechanics.Examples

A controlled crane crab

InvertedCraneCrab

PlanarMechanics.Examples

An inverted model of a pendulum

SpringDemo

PlanarMechanics.Examples

Spring demo

SpringDamperDemo

PlanarMechanics.Examples

Spring damper demo

KinematicLoop

PlanarMechanics.Examples

An example of a kinematic loop (manual state selection)

KinematicLoop_DynamicStateSelection

PlanarMechanics.Examples

An example of a kinematic loop

PistonEngine

PlanarMechanics.Examples

A piston engine (manual state selection)

PistonEngine_DynamicStateSelection

PlanarMechanics.Examples

A piston engine

CounterSpin

PlanarMechanics.Examples

Wheel with counter-spin and dry-friction law

WheelBasedCranCrab

PlanarMechanics.Examples

A pendulum mounted on an ideal rolling wheel

SpurGear

PlanarMechanics.GearComponents.Examples

Rigid spur gear

TestIdealWheel

PlanarMechanics.VehicleComponents.Examples

Test an ideal wheel

TestDryFrictionWheel

PlanarMechanics.VehicleComponents.Examples

Dry friction wheel

TestSlipBasedWheel

PlanarMechanics.VehicleComponents.Examples

A slip-based wheel

SingleTrackWithEngine

PlanarMechanics.VehicleComponents.Examples

Single track model

TwoTrackWithDifferentialGear

PlanarMechanics.VehicleComponents.Examples

Double track model

Used in Components (17)

Body

PlanarMechanics.Parts

Body component with mass and inertia

IdealRolling

PlanarMechanics.Joints

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

DryFrictionBasedRolling

PlanarMechanics.Joints

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

WorldForce

PlanarMechanics.Sources

External force and torque acting at frame_b, defined by 3 input signals and resolved in world frame

QuadraticSpeedDependentForce

PlanarMechanics.Sources

External force and torque acting at frame_b, defined by 3 input signals and resolved in world frame

PartialCutForceSensor

PlanarMechanics.Sensors.Internal

Base model to measure the cut force and/or torque between two frames, defined by components

PartialCutTorqueSensor

PlanarMechanics.Sensors.Internal

Base model to measure the cut force and/or torque between two frames, defined by components

PartialCutForceBaseSensor

PlanarMechanics.Sensors.Internal

Base model to measure the cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)

PartialCutTorqueBaseSensor

PlanarMechanics.Sensors.Internal

Base model to measure the cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)

IdealWheelJoint

PlanarMechanics.VehicleComponents.Wheels

Ideal wheel joint

DryFrictionWheelJoint

PlanarMechanics.VehicleComponents.Wheels

Dry-Friction based wheel joint

SlipBasedWheelJoint

PlanarMechanics.VehicleComponents.Wheels

Slip-Friction based wheel joint

PartialTwoFrames

PlanarMechanics.Interfaces

Partial model with two frames

PlanarToMultiBody

PlanarMechanics.Interfaces

This model enables to connect planar models to 3D Models

Arrow

PlanarMechanics.Visualizers.Advanced

Visualizing an arrow with variable size; all data have to be set as modifiers (see info layer)

DoubleArrow

PlanarMechanics.Visualizers.Advanced

Visualizing a double arrow with variable size; all data have to be set as modifiers (see info layer)

CoordinateSystem

PlanarMechanics.Visualizers.Advanced

Visualizing an orthogonal coordinate system of three axes