This information is part of the Modelica Standard Library maintained by the Modelica Association.

A wheel rolling on the x-y plane of the world frame including wheel mass and simple visualization. The rolling contact is considered being ideal, i.e. there is no slip between the wheel and the ground. The wheel can not take off but it can incline toward the ground. The frame frame_a is placed in the wheel center point and rotates with the wheel itself. Therefore, a rotational joint with rotation axis n={0,1,0} should be used to connect the wheel to a carrier.

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});