WOLFRAM SYSTEMMODELER

PlanarWorldIn3D

Planar world coordinate system + gravity field + default animation definition

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.PlanarWorldIn3D"]
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 planar world can optionaly be coupled to a 3D-Multibody connector. This will affect visualization mainly. Beware! The physics of the planar world presume the inertial system to be non-accelerated. When connecting to an accelerated MultiBody connector the physical forces going along with this acceleration are thus neglected.

For physical coupling between 2D and 3D system use Interfaces.PlanarToMultiBody

The gravity vector can be inherited from the MultiBody world component. In this case, the vector is determined once for the origin of the planar world system and then applied to all body components (if enabled there, as default).

Parameters (31)

inheritGravityFromMultiBody

Value: false

Type: Boolean

Description: =true if gravity vector shall be inherited from 3D world model

constantGravity

Value: {0, -9.81}

Type: Acceleration[2] (m/s²)

Description: Constant gravity acceleration vector resolved in world frame

connectToMultiBody

Value: false

Type: Boolean

Description: = true when visualization of the planar world shall be connected to a 3D multibody system

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)

Connectors (1)

MBFrame_a

Type: Frame_a

Components (4)

R

Type: Orientation

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

world

Type: World

coordinateSystem

Type: CoordinateSystem

gravityArrow

Type: Arrow

Used in Examples (1)

CraneCrabTo3D

PlanarMechanics.Examples

A damped crane crab

Used in Components (1)

RigidNoLossPlanetary

PlanarMechanics.GearComponents.Examples.Utilities

Planetary gearbox