Package Modelica.​Mechanics.​MultiBody.​Interfaces
Connectors and partial models for 3-dim. mechanical components

Information

This package contains connectors and partial models (i.e., models that are only used to build other models) of the MultiBody library.

Extends from Modelica.​Icons.​InterfacesPackage (Icon for packages containing interfaces).

Package Contents

NameDescription
FlangeWithBearingConnector consisting of 1-dim. rotational flange and its bearing frame
FlangeWithBearingAdaptorAdaptor to allow direct connections to the sub-connectors of FlangeWithBearing
FrameCoordinate system fixed to the component with one cut-force and cut-torque (no icon)
Frame_aCoordinate system fixed to the component with one cut-force and cut-torque (filled rectangular icon)
Frame_bCoordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon)
Frame_resolveCoordinate system fixed to the component used to express in which coordinate system a vector is resolved (non-filled rectangular icon)
LineForceBaseBase model for line force elements
PartialAbsoluteSensorBase model to measure an absolute frame variable
partialColorMapInterface for a function returning a color map
PartialElementaryJointBase model for elementary joints (has two frames + outer world + assert to guarantee that the joint is connected)
PartialForceBase model for force elements (provide frame_b.f and frame_b.t in subclasses)
partialGravityAccelerationInterface for the gravity function used in the World object
PartialLineForceBase model for massless line force elements
PartialOneFrame_aBase model for components providing one frame_a connector + outer world + assert to guarantee that the component is connected
PartialOneFrame_bBase model for components providing one frame_b connector + outer world + assert to guarantee that the component is connected
PartialRelativeSensorBase model to measure a relative variable between two frames
partialSurfaceCharacteristicInterface for a function returning surface characteristics
PartialTwoFramesBase model for components providing two frame connectors + outer world + assert to guarantee that the component is connected
PartialTwoFramesDoubleSizeBase model for components providing two frame connectors + outer world + assert to guarantee that the component is connected (default icon size is factor 2 larger as usual)
PartialVisualizerBase model for visualizers (has a frame_a on the left side + outer world + assert to guarantee that the component is connected)
ZeroPositionSet absolute position vector of frame_resolve to a zero vector and the orientation object to a null rotation

Connector Modelica.​Mechanics.​MultiBody.​Interfaces.​Frame
Coordinate system fixed to the component with one cut-force and cut-torque (no icon)

Information

Basic definition of a coordinate system that is fixed to a mechanical component. In the origin of the coordinate system the cut-force and the cut-torque is acting. This component has no icon definition and is only used by inheritance from frame connectors to define different icons.

Fields

TypeNameDescription
Positionr_0[3]Position vector from world frame to the connector frame origin, resolved in world frame
OrientationROrientation object to rotate the world frame into the connector frame
flow Forcef[3]Cut-force resolved in connector frame
flow Torquet[3]Cut-torque resolved in connector frame

Connector Modelica.​Mechanics.​MultiBody.​Interfaces.​Frame_a
Coordinate system fixed to the component with one cut-force and cut-torque (filled rectangular icon)

Information

Basic definition of a coordinate system that is fixed to a mechanical component. In the origin of the coordinate system the cut-force and the cut-torque is acting. This component has a filled rectangular icon.

Extends from Modelica.​Mechanics.​MultiBody.​Interfaces.​Frame (Coordinate system fixed to the component with one cut-force and cut-torque (no icon)).

Fields

TypeNameDescription
Positionr_0[3]Position vector from world frame to the connector frame origin, resolved in world frame
OrientationROrientation object to rotate the world frame into the connector frame
flow Forcef[3]Cut-force resolved in connector frame
flow Torquet[3]Cut-torque resolved in connector frame

Connector Modelica.​Mechanics.​MultiBody.​Interfaces.​Frame_b
Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon)

Information

Basic definition of a coordinate system that is fixed to a mechanical component. In the origin of the coordinate system the cut-force and the cut-torque is acting. This component has a non-filled rectangular icon.

Extends from Modelica.​Mechanics.​MultiBody.​Interfaces.​Frame (Coordinate system fixed to the component with one cut-force and cut-torque (no icon)).

Fields

TypeNameDescription
Positionr_0[3]Position vector from world frame to the connector frame origin, resolved in world frame
OrientationROrientation object to rotate the world frame into the connector frame
flow Forcef[3]Cut-force resolved in connector frame
flow Torquet[3]Cut-torque resolved in connector frame

Connector Modelica.​Mechanics.​MultiBody.​Interfaces.​Frame_resolve
Coordinate system fixed to the component used to express in which coordinate system a vector is resolved (non-filled rectangular icon)

Information

Basic definition of a coordinate system that is fixed to a mechanical component. In the origin of the coordinate system the cut-force and the cut-torque is acting. This coordinate system is used to express in which coordinate system a vector is resolved. A component that uses a Frame_resolve connector has to set the cut-force and cut-torque of this frame to zero. When connecting from a Frame_resolve connector to another frame connector, by default the connecting line has line style "dotted". This component has a non-filled rectangular icon.

Extends from Modelica.​Mechanics.​MultiBody.​Interfaces.​Frame (Coordinate system fixed to the component with one cut-force and cut-torque (no icon)).

Fields

TypeNameDescription
Positionr_0[3]Position vector from world frame to the connector frame origin, resolved in world frame
OrientationROrientation object to rotate the world frame into the connector frame
flow Forcef[3]Cut-force resolved in connector frame
flow Torquet[3]Cut-torque resolved in connector frame

Connector Modelica.​Mechanics.​MultiBody.​Interfaces.​FlangeWithBearing
Connector consisting of 1-dim. rotational flange and its bearing frame

Information

This hierarchical connector models a 1-dim. rotational flange connector and its optional bearing defined by a 3-dim. frame connector. If a connection to the subconnectors should be clearly visible, connect first an instance of FlangeWithBearingAdaptor to the FlangeWithBearing connector.

Fields

TypeNameDescription
parameter BooleanincludeBearingConnector= true, if bearing frame connector is present, otherwise not present
Flange_aflange1-dim. rotational flange
FramebearingFrame3-dim. frame in which the 1-dim. shaft is mounted

Model Modelica.​Mechanics.​MultiBody.​Interfaces.​FlangeWithBearingAdaptor
Adaptor to allow direct connections to the sub-connectors of FlangeWithBearing

Information

Adaptor object to make a more visible connection to the flange and frame subconnectors of a FlangeWithBearing connector.

Parameters

TypeNameDefaultDescription
BooleanincludeBearingConnectorfalse= true, if bearing frame connector is present, otherwise not present

Connectors

TypeNameDescription
FlangeWithBearingflangeAndFrameCompound connector consisting of 1-dim. rotational flange and 3-dim. frame mounting
Flange_bflange1-dim. rotational flange
Frame_aframe3-dim. frame in which the 1-dim. shaft is mounted

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialTwoFrames
Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected

Information

This partial model provides two frame connectors, access to the world object and an assert to check that both frame connectors are connected. Therefore, inherit from this partial model if the two frame connectors are needed and if the two frame connectors should be connected for a correct model.

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a fixed to the component with one cut-force and cut-torque
Frame_bframe_bCoordinate system b fixed to the component with one cut-force and cut-torque

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialTwoFramesDoubleSize
Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected (default icon size is factor 2 larger as usual)

Information

This partial model provides two frame connectors, access to the world object and an assert to check that both frame connectors are connected. Therefore, inherit from this partial model if the two frame connectors are needed and if the two frame connectors should be connected for a correct model.

When dragging "PartialTwoFrames", the default size is a factor of two larger as usual. This partial model is used by the Joint.Assemblies joint aggregation models.

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system fixed to the component with one cut-force and cut-torque
Frame_bframe_bCoordinate system fixed to the component with one cut-force and cut-torque

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialOneFrame_a
Base model for components providing one frame_a connector + outer world + assert to guarantee that the component is connected

Information

This partial model provides one frame_a connector, access to the world object and an assert to check that the frame_a connector is connected. Therefore, inherit from this partial model if the frame_a connector is needed and if this connector should be connected for a correct model.

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system fixed to the component with one cut-force and cut-torque

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialOneFrame_b
Base model for components providing one frame_b connector + outer world + assert to guarantee that the component is connected

Information

This partial model provides one frame_b connector, access to the world object and an assert to check that the frame_b connector is connected. Therefore, inherit from this partial model if the frame_b connector is needed and if this connector should be connected for a correct model.

Connectors

TypeNameDescription
Frame_bframe_bCoordinate system fixed to the component with one cut-force and cut-torque

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialElementaryJoint
Base model for elementary joints (has two frames + outer world + assert to guarantee that the joint is connected)

Information

All elementary joints should inherit from this base model, i.e., joints that are directly defined by equations, provided they compute either the rotation object of frame_b from the rotation object of frame_a and from relative quantities (or vice versa), or there is a constraint equation between the rotation objects of the two frames. In other cases, a joint object should inherit from Interfaces.PartialTwoFrames (e.g., joint Spherical, because there is no constraint between the rotation objects of frame_a and frame_b or joint Cylindrical because it is not an elementary joint).

This partial model provides two frame connectors, a "Connections.branch" between frame_a and frame_b, access to the world object and an assert to check that both frame connectors are connected.

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system fixed to the joint with one cut-force and cut-torque
Frame_bframe_bCoordinate system fixed to the joint with one cut-force and cut-torque

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialForce
Base model for force elements (provide frame_b.f and frame_b.t in subclasses)

Information

All 3-dimensional force and torque elements should be based on this superclass. This model defines frame_a and frame_b, computes the relative translation and rotation between the two frames and calculates the cut-force and cut-torque at frame_a by a force and torque balance from the cut-force and cut-torque at frame_b. As a result, in a subclass, only the relationship between the cut-force and cut-torque at frame_b has to be defined as a function of the following relative quantities:

  r_rel_b[3]: Position vector from origin of frame_a to origin
              of frame_b, resolved in frame_b
  R_rel     : Relative orientation object to rotate from frame_a to frame_b

Assume that force f = {100,0,0} should be applied on the body to which this force element is attached at frame_b, then the definition should be:

   model Constant_x_Force
      extends Modelica.Mechanics.MultiBody.Interfaces.PartialForce;
   equation
      frame_b.f = {-100, 0, 0};
      frame_b.t = zeros(3);
   end Constant_x_Force;

Note, that frame_b.f and frame_b.t are flow variables and therefore the negative value of frame_b.f and frame_b.t is acting at the part to which this force element is connected.

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).

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a fixed to the component with one cut-force and cut-torque
Frame_bframe_bCoordinate system b fixed to the component with one cut-force and cut-torque

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​LineForceBase
Base model for line force elements

Information

All line force elements should be based on this base model. This model defines frame_a and frame_b and computes the (guarded) relative distance s. An assertion is raised if the relative distance length became smaller as parameter s_small.

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).

Parameters

TypeNameDefaultDescription
Distances_small1e-10Prevent zero-division if distance between frame_a and frame_b is zero
BooleanfixedRotationAtFrame_afalse=true, if rotation frame_a.R is fixed (to directly connect line forces)
BooleanfixedRotationAtFrame_bfalse=true, if rotation frame_b.R is fixed (to directly connect line forces)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a fixed to the component with one cut-force and cut-torque
Frame_bframe_bCoordinate system b fixed to the component with one cut-force and cut-torque

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialLineForce
Base model for massless line force elements

Information

All massless line force elements should be based on this base model. This model defines frame_a and frame_b, computes the (guarded) relative distance s and provides the force and torque balance of the cut-forces and cut-torques at frame_a and frame_b, respectively. In sub-models, only the line force f, acting at frame_b on the line from frame_a to frame_b, as a function of the relative distance s and its derivative der(s) has to be defined. Example:

   model Spring
      parameter Real c "spring constant",
      parameter Real s_unstretched "unstretched spring length";
      extends Modelica.Mechanics.MultiBody.Interfaces.PartialLineForce;
   equation
      f = c*(s-s_unstretched);
   end Spring;

Extends from Modelica.​Mechanics.​MultiBody.​Interfaces.​LineForceBase (Base model for line force elements).

Parameters

TypeNameDefaultDescription
Distances_small1e-10Prevent zero-division if distance between frame_a and frame_b is zero
BooleanfixedRotationAtFrame_afalse=true, if rotation frame_a.R is fixed (to directly connect line forces)
BooleanfixedRotationAtFrame_bfalse=true, if rotation frame_b.R is fixed (to directly connect line forces)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a fixed to the component with one cut-force and cut-torque
Frame_bframe_bCoordinate system b fixed to the component with one cut-force and cut-torque

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialAbsoluteSensor
Base model to measure an absolute frame variable

Information

This is the base class of a 3-dim. mechanics component with one frame and one output port in order to measure an absolute quantity in the frame connector and to provide the measured signal as output for further processing with the blocks of package Modelica.Blocks.

Extends from Modelica.​Icons.​RotationalSensor (Icon representing a round measurement device).

Parameters

TypeNameDefaultDescription
Integern_out1Number of output signals

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system from which absolute quantities are provided as output signals
output RealOutputy[n_out]Measured data as signal vector

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialRelativeSensor
Base model to measure a relative variable between two frames

Information

This is a base class for 3-dim. mechanical components with two frames and one output port in order to measure relative quantities between the two frames or the cut-forces/torques in the frame and to provide the measured signals as output for further processing with the blocks of package Modelica.Blocks.

Extends from Modelica.​Icons.​RotationalSensor (Icon representing a round measurement device).

Parameters

TypeNameDefaultDescription
Integern_out1Number of output signals

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a
Frame_bframe_bCoordinate system b
output RealOutputy[n_out]Measured data as signal vector

Partial Model Modelica.​Mechanics.​MultiBody.​Interfaces.​PartialVisualizer
Base model for visualizers (has a frame_a on the left side + outer world + assert to guarantee that the component is connected)

Information

This partial model provides one frame_a connector, access to the world object and an assert to check that the frame_a connector is connected. It is used by inheritance from all visualizer objects.

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system in which visualization data is resolved

Model Modelica.​Mechanics.​MultiBody.​Interfaces.​ZeroPosition
Set absolute position vector of frame_resolve to a zero vector and the orientation object to a null rotation

Information

Element consisting of a frame (frame_resolve) that is fixed in the world frame and has it's position and orientation identical with the world, i.e. the position vector from origin of world frame to frame_resolve is zero vector and the relative orientation between those two frames is identity matrix.

This component provides no visualization.

Extends from Modelica.​Blocks.​Icons.​Block (Basic graphical layout of input/output block).

Connectors

TypeNameDescription
Frame_resolveframe_resolve 

Partial Function Modelica.​Mechanics.​MultiBody.​Interfaces.​partialGravityAcceleration
Interface for the gravity function used in the World object

Information

This partial function defines the interface to the gravity function used in the World object. All gravity field functions must inherit from this function. The input to the function is the absolute position vector of a point in the gravity field, whereas the output is the gravity acceleration at this point, resolved in the world frame.

Extends from Modelica.​Icons.​Function (Icon for functions).

Inputs

TypeNameDescription
Positionr[3]Position vector from world frame to actual point, resolved in world frame

Outputs

TypeNameDescription
Accelerationgravity[3]Gravity acceleration at position r, resolved in world frame

Partial Function Modelica.​Mechanics.​MultiBody.​Interfaces.​partialSurfaceCharacteristic
Interface for a function returning surface characteristics

Information

This partial function defines the interface of a function that returns surface characteristics for an object visualization, see e.g. Visualizers.Advanced.SurfaceCharacteristics.torus.

Extends from Modelica.​Icons.​Function (Icon for functions).

Inputs

TypeNameDescription
IntegernuNumber of points in u-Dimension
IntegernvNumber of points in v-Dimension
BooleanmultiColoredSurface= true: Color is defined for each surface point

Outputs

TypeNameDescription
PositionX[nu,nv][nu,nv] positions of points in x-Direction resolved in surface frame
PositionY[nu,nv][nu,nv] positions of points in y-Direction resolved in surface frame
PositionZ[nu,nv][nu,nv] positions of points in z-Direction resolved in surface frame
RealC[if multiColoredSurface then nu else 0,if multiColoredSurface then nv else 0,3][nu,nv,3] Color array, defining the color for each surface point

Partial Function Modelica.​Mechanics.​MultiBody.​Interfaces.​partialColorMap
Interface for a function returning a color map

Information

This partial function defines the interface of a function that returns a color map. Predefined color map functions are defined in package Modelica.Mechanics.MultiBody.Visualizers.Colors.ColorMaps.

Extends from Modelica.​Icons.​Function (Icon for functions).

Inputs

TypeNameDescription
Integern_colorsNumber of colors in the color map

Outputs

TypeNameDescription
RealcolorMap[n_colors,3]Color map to map a scalar to a color

Generated 2018-12-12 12:12:45 EST by MapleSim.