Package Modelica.​Mechanics.​MultiBody.​Examples.​Constraints
Examples with constraint joints

Information

This package is a collection of simulatable models involving constraints in a multibody system. The examples mainly show comparison of constraints to the standard joints.

Extends from Modelica.​Icons.​ExamplesPackage (Icon for packages containing runnable examples).

Package Contents

Model Modelica.​Mechanics.​MultiBody.​Examples.​Constraints.​PrismaticConstraint
Body attached by one spring and two prismatic joints or constrained to environment

Information

This example demonstrates the functionality of constraint representing prismatic joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by two serial coupled prismatic joints or by appropriate constraint. Therefore, the body can only perform translation in two directions specified in the two joints depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict both position and angle deviations in the constraining element.

Extends from Modelica.​Icons.​Example (Icon for runnable examples).

Parameters

Model Modelica.​Mechanics.​MultiBody.​Examples.​Constraints.​RevoluteConstraint
Body attached by one spring and revolute joint or constrained to environment

Information

This example demonstrates the functionality of constraint representing revolute joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by revolute joint or by appropriate constraint. Therefore, the body can only perform rotation about the revolute axis depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict both position and angle deviations in the constraining element.

Extends from Modelica.​Icons.​Example (Icon for runnable examples).

Parameters

Model Modelica.​Mechanics.​MultiBody.​Examples.​Constraints.​SphericalConstraint
Body attached by one spring and spherical joint or constrained to environment

Information

This example demonstrates the functionality of constraint representing spherical joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by spherical joint or by appropriate constraint. Therefore, the body can only perform spherical movement depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict position deviations in the constraining element.

Extends from Modelica.​Icons.​Example (Icon for runnable examples).

Parameters

Model Modelica.​Mechanics.​MultiBody.​Examples.​Constraints.​UniversalConstraint
Body attached by one spring and universal joint or constrained to environment

Information

This example demonstrates the functionality of constraint representing universal joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by universal joint or by appropriate constraint. Therefore, the body can only perform rotation about two revolute axes depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict position deviations in the constraining element.

Extends from Modelica.​Icons.​Example (Icon for runnable examples).

Parameters