modelUniversalSpring
Universal joint with torsional stiffness (2 degrees-of-freedom, 4 potential states)
Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames (Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected).
Information
Attribution Notice
This model is an extension of the Universal block in the Mechanics.MultiBody.Joints package
of the Modelica Standard Library
Copyright © 1998-2016, Modelica Association and DLR.
Block for modeling a universal joint with torsional stiffness in each direction.
Copyright © 2018
ATA ENGINEERING, INC.
ALL RIGHTS RESERVED
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| SI.TranslationalSpringConstant | c_a | Spring constant for joint1 axis | |
| SI.TranslationalSpringConstant | c_b | Spring constant for joint2 axis | |
| Boolean | animation | false | = true, if animation shall be enabled |
| Modelica.Mechanics.MultiBody.Types.Axis | n_a | {1, 0, 0} | Axis of revolute joint 1 resolved in frame_a |
| Modelica.Mechanics.MultiBody.Types.Axis | n_b | {0, 1, 0} | Axis of revolute joint 2 resolved in frame_b |
| Animation › if animation = true | |||
| SI.Distance | cylinderLength | world.defaultJointLength | Length of cylinders representing the joint axes |
| SI.Distance | cylinderDiameter | world.defaultJointWidth | Diameter of cylinders representing the joint axes |
| Advanced | |||
| StateSelect | stateSelect | StateSelect.prefer | Priority to use joint coordinates (phi_a, phi_b, w_a, w_b) as states |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Frame_a | frame_a (from PartialTwoFrames) | Coordinate system a fixed to the component with one cut-force and cut-torque | |
| Interfaces.Frame_b | frame_b (from PartialTwoFrames) | Coordinate system b fixed to the component with one cut-force and cut-torque |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Types.Color | cylinderColor | Modelica.Mechanics.MultiBody.Types.Defaults.JointColor | Color of cylinders representing the joint axes |
| Types.SpecularCoefficient | specularCoefficient | world.defaultSpecularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) |
| Modelica.Mechanics.MultiBody.Joints.Revolute | revolute_a | ||
| Modelica.Mechanics.MultiBody.Joints.Revolute | revolute_b | ||
| SI.Angle | phi_a | Relative rotation angle from frame_a to intermediate frame | |
| SI.Angle | phi_b | Relative rotation angle from intermediate frame to frame_b | |
| SI.AngularVelocity | w_a | First derivative of angle phi_a (relative angular velocity a) | |
| SI.AngularVelocity | w_b | First derivative of angle phi_b (relative angular velocity b) | |
| SI.AngularAcceleration | a_a | Second derivative of angle phi_a (relative angular acceleration a) | |
| SI.AngularAcceleration | a_b | Second derivative of angle phi_b (relative angular acceleration b) | |
| Modelica.Mechanics.Rotational.Components.Spring | spring_a | ||
| Modelica.Mechanics.Rotational.Components.Spring | spring_b |