.PlanarMechanics.VehicleComponents.Wheels.IdealWheelJoint

Information

The ideal wheel joint enforces the constraints of ideal rolling on the x,y-plane.

The constraint is that the velocity of the virtual point of contact shall be zero. This constrains is split into two components:

• no lateral velocity
• the longitudinal velocity has to equal the rolling velocity times the radius.

The radius of the wheel can be specified by the parameter radius. The driving direction (for phi = 0) can be specified by the parameter r.

The wheel contains a 2D frame connector for the steering on the plane. The rolling motion of the wheel can be actuated by the 1D flange connector.

For examples of usage see the local Examples package.

Revisions

Developed 2010 at the DLR Institute of System Dynamics and Control