Package **Parts** contains **rigid
components** of a multi-body system. These components may be
used to build up more complicated structures. For example, a part
may be built up of a "Body" and of several "FixedTranslation"
components.

Model |
Description |
---|---|

Fixed | Frame fixed in world frame at a given position. It is
visualized with a shape, see shapeType below (the
frames on the two sides do not belong to the component): |

FixedTranslation | Fixed translation of frame_b with respect to frame_a. It is
visualized with a shape, see shapeType below (the
frames on the two sides do not belong to the component): |

FixedRotation | Fixed translation and fixed rotation of frame_b with respect to
frame_a It is visualized with a shape, see
shapeType below (the frames on the two sides do
not belong to the component): |

Body | Rigid body with mass, inertia tensor and one frame connector.
It is visualized with a cylinder and a sphere at the center of
mass: |

BodyShape | Rigid body with mass, inertia tensor, different shapes (see
shapeType below) for animation, and two frame
connectors: |

Fixed BodyBox | Rigid body with box shape (mass and animation properties are
computed from box data and from density): |

BodyCylinder | Rigid body with cylinder shape (mass and animation properties
are computed from cylinder data and from density): |

PointMass | Rigid body where inertia tensor and rotation is
neglected: |

Mounting1D | Propagate 1-dim. support torque to 3-dim. system |

Rotor1D | 1D inertia attachable on 3-dim. bodies (without neglecting
dynamic effects) |

BevelGear1D | 1D gearbox with arbitrary shaft directions (3D bearing frame) |

Components **Fixed**,
**FixedTranslation**, **FixedRotation**
and **BodyShape** are visualized according to
parameter **shapeType**, that may have the following
values (e.g., shapeType = "box"):

All the details of the visualization shape parameters are given in Visualizers.FixedShape

Colors in all animation parts are defined via parameter
**color**. This is an Integer vector with 3 elements,
{r, g, b}, and specifies the color of the shape. {r,g,b} are the
"red", "green" and "blue" color parts, given in the ranges 0 ..
255, respectively. The predefined type
**MultiBody.Types.Color** contains a menu definition
of the colors used in the MultiBody library (this will be replaced
by a color editor).

Name | Description |
---|---|

Fixed | Frame fixed in the world frame at a given position |

FixedTranslation | Fixed translation of frame_b with respect to frame_a |

FixedRotation | Fixed translation followed by a fixed rotation of frame_b with respect to frame_a |

Body | Rigid body with mass, inertia tensor and one frame connector (12 potential states) |

BodyShape | Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states) |

BodyBox | Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states) |

BodyCylinder | Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states) |

PointMass | Rigid body where body rotation and inertia tensor is neglected (6 potential states) |

Mounting1D | Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true) |

Rotor1D | 1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account if world.driveTrainMechanics3D=true) |

BevelGear1D | 1D gearbox with arbitrary shaft directions and 3-dim. bearing frame (3D dynamic effects are taken into account provided world.driveTrainMechanics3D=true) |

RollingWheel | Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom) |

RollingWheelSet | Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis |

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