Library PlanarMechanics is a free Modelica package providing 2-dimensional mechanical components to model mechanical systems, such as robots, mechanisms, vehicles, where MultiBody library is unnecessarily complex.

In order to know how the library works, first have a look at:

Licensed by DLR e.V. under the Modelica License 2

Copyright © 2010-2018, Deutsches Zentrum fuer Luft- und Raumfahrt e.V.

This Modelica package is free software and the use is completely at your own risk; it can be redistributed and/or modified under the terms of the Modelica License 2. For license conditions (including the disclaimer of warranty) see Modelica.UsersGuide.ModelicaLicense2 or visit http://www.modelica.org/licenses/ModelicaLicense2.


Name Description
 UsersGuide User's Guide
 PlanarWorld Planar world coordinate system + gravity field + default animation definition
 PlanarWorldIn3D Planar world coordinate system + gravity field + default animation definition
 Examples Collection of introductory examples
 Parts Components for rigid and elastic mechanical parts
 Joints Planar joint models
 Sources Sources to drive 2D mechanical components
 Sensors Sensors to measure variables in 2D mechanical components
 GearComponents Gear connection models
 VehicleComponents Vehicle relevant 2-dim. components
 Interfaces Connectors and partial models for 2-dim. mechanical components
 Types Type definitions used across the library
 Utilities Utility elements used across the library
 Visualizers Visualization components of the library


Developed 2010-2018 at the DLR Institute of System Dynamics and Control

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