RollingWheelSetIdeal rolling wheel set consisting of two ideal rolling wheels connected together by an axis 
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Two wheels are connected by an axis and can rotate around this axis. The wheels are rolling on the xy plane of the world frame. The coordinate system attached to the center of the wheel axis (frameMiddle) is constrained so that it is always parallel to the xy plane. If all generalized coordinates are zero, frameMiddle is parallel to the world frame.
To work properly, the gravity acceleration vector g of the world must point in the negative zaxis, i.e.
inner Modelica.Mechanics.MultiBody.World world(n={0,0,1});
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 
wheelMass 
Value: Type: Mass (kg) Description: Mass of one wheel 
wheel_I_axis 
Value: Type: Inertia (kg·m²) Description: Inertia along one wheel axis 
wheel_I_long 
Value: Type: Inertia (kg·m²) Description: Inertia perpendicular to one wheel axis 
wheelDistance 
Value: Type: Distance (m) Description: Distance between the two wheels 
stateSelect 
Value: StateSelect.always Type: StateSelect Description: Priority to use the generalized coordinates as states 
wheelWidth 
Value: 0.01 Type: Distance (m) Description: Width of one wheel 
hollowFraction 
Value: 0.8 Type: Real Description: 1.0: Completely hollow, 0.0: rigid cylinder 
wheelColor 
Value: {30, 30, 30} Type: Color Description: Color of wheels 
frameMiddle 
Type: Frame_a Description: Frame fixed in middle of axis connecting both wheels (yaxis: along wheel axis, zaxis: upwards) 


frame1 
Type: Frame_a Description: Frame fixed in center point of left wheel (yaxis: along wheel axis, zaxis: upwards) 

frame2 
Type: Frame_b Description: Frame fixed in center point of right wheel (yaxis: along wheel axis, zaxis: upwards) 

axis1 
Type: Flange_a Description: 1dim. rotational flange that drives the left wheel 

axis2 
Type: Flange_a Description: 1dim. rotational flange that drives the right wheel 

support 
Type: Flange_b Description: Support of 1D axes 
body2 
Type: Body 


shape2 
Type: FixedShape 

body1 
Type: Body 

shape1 
Type: FixedShape 

wheelSetJoint 
Type: RollingWheelSet 
Modelica.Mechanics.MultiBody.Examples.Elementary Rolling wheel set that is driven by torques driving the wheels 

Modelica.Mechanics.MultiBody.Examples.Elementary Rolling wheel set that is pulled by a force 