.Servomechanisms.Mechanism.Link

Information

General

This class enables the creation of a link element by selecting one of the predefine components from Multibody library: BodyBox , BodyCylinder or BodyShape .

Implementation

Notes

• The advantage of using this component is that if one selects for example box or cylinder it is necessary only to input the dimensions length, width and heigth or length and diameter because the density and values of mass and inertia are automatically calculate.
• In the other case (bodyshape), the user must input the directory of a 3d model for visualization (it has been tested with modelica3d library but it is yet under development) and the values of mass, vector from frame_a to frame_b, vector from frame_a to center of mass and the inertia tensor.
• At the moment, not all the parameters of the original elements (BodyShape, BodyBox, BodyCylinder) are utilized. This could be a limitation for the user.