RollingWheelSetJoint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis) |
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Diagram
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
An assembly joint for a wheelset rolling on the x-y plane of the world frame. The frames frame1 and frame2 are connected to rotating wheels; the frameMiddle moves in a plane parallel to the x-y plane of the world and should be connected to the vehicle body.
Note
To work properly, the gravity acceleration vector g of the world must point in the negative z-axis, i.e.
inner Modelica.Mechanics.MultiBody.World world(n={0,0,-1});
Parameters (4)
| animation |
Value: true Type: Boolean Description: = true, if animation of wheel set shall be enabled |
|---|---|
| wheelRadius |
Value: Type: Radius (m) Description: Radius of one wheel |
| wheelDistance |
Value: Type: Distance (m) Description: Distance between the two wheels |
| stateSelect |
Value: StateSelect.default Type: StateSelect Description: Priority to use the generalized coordinates as states |
Connectors (6)
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frameMiddle |
Type: Frame_a Description: Frame fixed in middle of axis connecting both wheels (y-axis: along wheel axis, z-Axis: upwards) |
|---|---|---|
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frame1 |
Type: Frame_a Description: Frame fixed in center point of left wheel (y-axis: along wheel axis, z-Axis: upwards) |
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frame2 |
Type: Frame_b Description: Frame fixed in center point of right wheel (y-axis: along wheel axis, z-Axis: upwards) |
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axis1 |
Type: Flange_a Description: 1-dim. rotational flange that drives the joint |
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axis2 |
Type: Flange_a Description: 1-dim. rotational flange that drives the joint |
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support |
Type: Flange_b Description: Support of 1D axes |
Components (11)
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fixed |
Type: Fixed |
|---|---|---|
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rod1 |
Type: FixedTranslation |
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prismatic1 |
Type: Prismatic |
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prismatic2 |
Type: Prismatic |
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revolute |
Type: Revolute |
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rod2 |
Type: FixedTranslation |
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revolute1 |
Type: Revolute |
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revolute2 |
Type: Revolute |
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rolling1 | |
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rolling2 | |
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mounting1D |
Type: Mounting1D |
Used in Components (1)
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Modelica.Mechanics.MultiBody.Parts Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis |