RollingWheel
Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom)
Library
Modelica/Mechanics/MultiBody/Parts
Description
A wheel rolling on the x-y plane of the world frame includingwheel mass and simple visualization.The rolling contact is considered being ideal, i.e. there is noslip 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 rotateswith the wheel itself. Therefore, arotational jointwith rotation axis n={0,1,0} should be used toconnect 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});
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_animation | animation | = true, if animation of wheel shall be enabled | Scalar | true |
mo_wheelRadius | wheelRadius | Radius of wheel | Scalar | |
mo_wheelMass | wheelMass | Mass of wheel | Scalar | |
mo_wheel_I_axis | wheel_I_axis | Inertia along the wheel axis | Scalar | |
mo_wheel_I_long | wheel_I_long | Inertia perpendicular to the wheel axis | Scalar | |
mo_stateSelect | stateSelect | Priority to use generalized coordinates as states | Structure | |
mo_stateSelect/choice1 | StateSelect.never | Number | 0 | |
mo_stateSelect/choice2 | StateSelect.avoid | Number | 0 | |
mo_stateSelect/choice3 | StateSelect.default | Number | 0 | |
mo_stateSelect/choice4 | StateSelect.prefer | Number | 0 | |
mo_stateSelect/choice5 | StateSelect.always | Number | 0 | |
mo_x | x | x | Structure | |
mo_x/fixed | fixed | Cell of scalars | true | |
mo_x/start | start | Cell of scalars | ||
mo_y | y | y | Structure | |
mo_y/fixed | fixed | Cell of scalars | true | |
mo_y/start | start | Cell of scalars | ||
mo_angles | angles | angles | Structure | |
mo_angles/fixed | fixed | Cell of vectors of size 3 | true | |
mo_angles/start | start | Cell of vectors of size 3 | ||
mo_der_angles | der_angles | der_angles | Structure | |
mo_der_angles/fixed | fixed | Cell of vectors of size 3 | true | |
mo_der_angles/start | start | Cell of vectors of size 3 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_width | width | Width of wheel | Scalar | |
mo_hollowFraction | hollowFraction | 1.0: Completely hollow, 0.0: rigid cylinder | Scalar | |
mo_wheelColor | wheelColor | Color of wheel | Vector of size 3 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo__nmodifiers | Number of Modifiers | Specifies the number of modifiers | Number | |
mo__modifiers | Modifiers | Add new modifier | Structure | |
mo__modifiers/varname | Variable name | Cell of strings | ||
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Frame fixed in wheel center point (y-axis: along wheel axis, z-axis: upwards) | input | 1 |