.Modelica.Mechanics.MultiBody.Parts

Information

Package Parts contains rigid components of a multi-body system. These components may be used to build up more complicated structures. For example, a part may be built up of a "Body" and of several "FixedTranslation" components.

Content

Model	Description
Fixed	Frame fixed in world frame at a given position. It is visualized with a shape, see shapeType below (the frames on the two sides do not belong to the component):
FixedTranslation	Fixed translation of frame_b with respect to frame_a. It is visualized with a shape, see shapeType below (the frames on the two sides do not belong to the component):
FixedRotation	Fixed translation and fixed rotation of frame_b with respect to frame_a It is visualized with a shape, see shapeType below (the frames on the two sides do not belong to the component):
Body	Rigid body with mass, inertia tensor and one frame connector. It is visualized with a cylinder and a sphere at the center of mass:
BodyShape	Rigid body with mass, inertia tensor, different shapes (see shapeType below) for animation, and two frame connectors:
Fixed BodyBox	Rigid body with box shape (mass and animation properties are computed from box data and from density):
BodyCylinder	Rigid body with cylinder shape (mass and animation properties are computed from cylinder data and from density):
PointMass	Rigid body where inertia tensor and rotation is neglected:
Mounting1D	Propagate 1-dim. support torque to 3-dim. system
Rotor1D	1D inertia attachable on 3-dim. bodies (without neglecting dynamic effects)
BevelGear1D	1D gearbox with arbitrary shaft directions (3D bearing frame)

Components Fixed, FixedTranslation, FixedRotation and BodyShape are visualized according to parameter shapeType, that may have the following values (e.g., shapeType = "box"):
 

All the details of the visualization shape parameters are given in Visualizers.FixedShape

Colors in all animation parts are defined via parameter color. This is an Integer vector with 3 elements, {r, g, b}, and specifies the color of the shape. {r,g,b} are the "red", "green" and "blue" color parts, given in the ranges 0 .. 255, respectively. The predefined type MultiBody.Types.Color contains a menu definition of the colors used in the MultiBody library (this will be replaced by a color editor).

Contents

Name	Description
Fixed	Frame fixed in the world frame at a given position
FixedTranslation	Fixed translation of frame_b with respect to frame_a
FixedRotation	Fixed translation followed by a fixed rotation of frame_b with respect to frame_a
Body	Rigid body with mass, inertia tensor and one frame connector (12 potential states)
BodyShape	Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)
BodyBox	Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)
BodyCylinder	Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states)
PointMass	Rigid body where body rotation and inertia tensor is neglected (6 potential states)
Mounting1D	Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true)
Rotor1D	1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account if world.driveTrainMechanics3D=true)
BevelGear1D	1D gearbox with arbitrary shaft directions and 3-dim. bearing frame (3D dynamic effects are taken into account provided world.driveTrainMechanics3D=true)
RollingWheel	Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom)
RollingWheelSet	Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis