IdealRolling
A joint representing a wheel ideally rolling on the x-axis
Library
PlanarMechanics/Joints
Description
This model contains only one connector frame_a lying at the centerof the wheel, where it is assumed that no slip occurs between the wheel and ground.
The ground is hereby represented by the x-axis.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_R | R | Radius of the wheel | Scalar | |
mo_animate | animate | Enable animation | Scalar | true |
mo_x | x | x | Structure | |
mo_x/fixed | fixed | Cell of scalars | true | |
mo_x/start | start | Cell of scalars | ||
mo_phi | phi | phi | Structure | |
mo_phi/fixed | fixed | Cell of scalars | true | |
mo_phi/start | start | Cell of scalars | ||
mo_w | w | w | Structure | |
mo_w/fixed | fixed | Cell of scalars | true | |
mo_w/start | start | Cell of scalars | ||
mo_z | z | z | Structure | |
mo_z/fixed | fixed | Cell of scalars | true | |
mo_z/start | start | Cell of scalars | ||
mo_vx | vx | vx | Structure | |
mo_vx/fixed | fixed | Cell of scalars | true | |
mo_vx/start | start | Cell of scalars |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_stateSelect | stateSelect | Priority to use phi, w and a 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 |
| 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 | input | 1 |