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WOLFRAM SYSTEM MODELER

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.

It defines the global coordinate system fixed in ground and shows the x, y, z axes in animation if wanted.
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.
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 Description: Visualizing an orthogonal coordinate system of three axes
	gravityArrow	Type: Arrow Description: Visualizing an arrow with variable size; all data have to be set as modifiers (see info layer)

Type: Orientation

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

coordinateSystem

Type: CoordinateSystem

Description: Visualizing an orthogonal coordinate system of three axes

gravityArrow

Type: Arrow

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

Used in Examples (24)

	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
	WheelBasedCraneCrab PlanarMechanics.Examples A pendulum mounted on an ideal rolling wheel
	SpurGear PlanarMechanics.GearComponents.Examples Rigid spur gear
	TestAirDrag PlanarMechanics.VehicleComponents.Examples Test air drag model
	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

Revisions

DLR logo Developed 2010 at the DLR Institute of System Dynamics and Control