BodyBox

Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)

    BodyBox

Library

Mechanics/MultiBody/Parts

Description

Rigid body with box shape. The mass properties of the body (mass, center of mass, inertia tensor) are computed from the box data. Optionally, the box may be hollow. The (outer) box shape is by default used in the animation. The hollow part is not shown in the animation. The two connector frames frame_a and frame_b are always parallel to each other. Example of component animation (note, that the animation may be switched off via parameter animation = false):

Parts.BodyBox

A BodyBox component has potential states. For details of these states and of the "Advanced" menu parameters, see model MultiBody.Parts.Body.

Parameters

BodyBox_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation shall be enabled (show box between frame_a and frame_b)

Scalar

true
false

mo_r

r

Vector from frame_a to frame_b resolved in frame_a

Vector of size 3

mo_r_shape

r_shape

Vector from frame_a to box origin, resolved in frame_a

Vector of size 3

mo_lengthDirection

lengthDirection

Vector in length direction of box, resolved in frame_a

Vector of size 3

mo_widthDirection

widthDirection

Vector in width direction of box, resolved in frame_a

Vector of size 3

mo_length

length

Length of box

Scalar

mo_width

width

Width of box

Scalar

mo_height

height

Height of box

Scalar

mo_innerWidth

innerWidth

Width of inner box surface (0 <= innerWidth <= width)

Scalar

mo_innerHeight

innerHeight

Height of inner box surface (0 <= innerHeight <= height)

Scalar

mo_density

density

Density of cylinder (e.g., steel: 7700 .. 7900, wood : 400 .. 800)

Scalar

mo_color

color

Color of box

Vector of size 3

mo_specularCoefficient

specularCoefficient

Reflection of ambient light (= 0: light is completely absorbed)

Scalar

mo_mo

mo

Mass of box without hole

Scalar

mo_mi

mi

Mass of hole of box

Scalar

mo_m

m

Mass of box

Scalar

mo_R

R

Orientation object from frame_a to coordinates system spanned by r and widthDirection

FromModelica('Modelica.Mechanics.MultiBody.Frames.Orientation')

mo_r_CM

r_CM

Position vector from origin of frame_a to center of mass, resolved in frame_a

Vector of size 3

mo_I

I

Inertia tensor of body box with respect to center of mass, parallel to frame_a

Matrix of size 3x3

BodyBox_1

NameLabelDescriptionData TypeValid Values

mo_angles_fixed

angles_fixed

= true, if angles_start are used as initial values, else as guess values

Scalar

true
false

mo_angles_start

angles_start

Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b

Vector of size 3

mo_sequence_start

sequence_start

Sequence of rotations to rotate frame_a into frame_b at initial time

Vector of size 3

mo_w_0_fixed

w_0_fixed

= true, if w_0_start are used as initial values, else as guess values

Scalar

true
false

mo_w_0_start

w_0_start

Initial or guess values of angular velocity of frame_a resolved in world frame

Vector of size 3

mo_z_0_fixed

z_0_fixed

= true, if z_0_start are used as initial values, else as guess values

Scalar

true
false

mo_z_0_start

z_0_start

Initial values of angular acceleration z_0 = der(w_0)

Vector of size 3

BodyBox_2

NameLabelDescriptionData TypeValid Values

mo_enforceStates

enforceStates

= true, if absolute variables of body object shall be used as states (StateSelect.always)

Scalar

true
false

mo_useQuaternions

useQuaternions

= true, if quaternions shall be used as potential states otherwise use 3 angles as potential states

Scalar

true
false

mo_sequence_angleStates

sequence_angleStates

Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states

Vector of size 3

BodyBox_3

NameLabelDescriptionData TypeValid Values

mo_r_0

r_0

r_0

Structure

mo_r_0/fixed

fixed

Cell of vectors of size 3

true
false

mo_r_0/start

start

Cell of vectors of size 3

mo_v_0

v_0

v_0

Structure

mo_v_0/fixed

fixed

Cell of vectors of size 3

true
false

mo_v_0/start

start

Cell of vectors of size 3

mo_a_0

a_0

a_0

Structure

mo_a_0/fixed

fixed

Cell of vectors of size 3

true
false

mo_a_0/start

start

Cell of vectors of size 3

Ports

NameTypeDescriptionIO TypeNumber

frame_a

implicit

Coordinate system fixed to the component with one cut-force and cut-torque

input

1

frame_b

implicit

Coordinate system fixed to the component with one cut-force and cut-torque

output

1