modelCylindrical
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
Joint where frame_b rotates around and translates along axis n which is fixed in frame_a. The two frames coincide when "phi=revolute.phi=0" and "s=prismatic.s=0". This joint has the following potential states;
- The relative angle phi [rad] around axis n,
- the relative distance s [m] along axis n,
- the relative angular velocity w [rad/s] (= der(phi)) and
- the relative velocity v [m/s] (= der(s)).
They are used as candidates for automatic selection of states from the tool. This may be enforced by setting "stateSelect=StateSelect.always" in the Advanced menu. The states are usually selected automatically. In certain situations, especially when closed kinematic loops are present, it might be slightly more efficient, when using the "StateSelect.always" setting.
In the following figure the animation of a cylindrical joint is shown. The light blue coordinate system is frame_a and the dark blue coordinate system is frame_b of the joint. The black arrow is parameter vector "n" defining the cylinder axis (here: n = {0,0,1}).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | animation | true | = true, if animation shall be enabled (show cylinder) |
| Modelica.Mechanics.MultiBody.Types.Axis | n | {1, 0, 0} | Cylinder axis resolved in frame_a (= same as in frame_b) |
| Animation › if animation = true | |||
| SI.Distance | cylinderDiameter | world.defaultJointWidth | Diameter of cylinder |
| Advanced | |||
| StateSelect | stateSelect | StateSelect.prefer | Priority to use joint coordinates (phi, s, w, v) 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 cylinder |
| Types.SpecularCoefficient | specularCoefficient | world.defaultSpecularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) |
| Prismatic | prismatic | ||
| Revolute | revolute | ||
| SI.Position | s | Relative distance between frame_a and frame_b | |
| SI.Angle | phi | Relative rotation angle from frame_a to frame_b | |
| SI.Velocity | v | First derivative of s (relative velocity) | |
| SI.AngularVelocity | w | First derivative of angle phi (relative angular velocity) | |
| SI.Acceleration | a | Second derivative of s (relative acceleration) | |
| SI.AngularAcceleration | wd | Second derivative of angle phi (relative angular acceleration) |