WOLFRAM SYSTEM MODELER
PlanarWorldIn3DPlanar world coordinate system + gravity field + default animation definition |
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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.
- 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 planar world can optionally 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 |
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| 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 (2)
Components (4)
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R |
Type: Orientation Description: Orientation object to rotate the world frame into the connector frame |
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
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coordinateSystem |
Type: CoordinateSystem Description: Visualizing an orthogonal coordinate system of three axes |
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gravityArrow |
Type: Arrow Description: Visualizing an arrow with variable size; all data have to be set as modifiers (see info layer) |
Used in Examples (1)
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PlanarMechanics.Examples A damped crane crab |
Used in Components (1)
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PlanarMechanics.GearComponents.Examples.Utilities Planetary gearbox |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control