FixedRotation

Fixed translation followed by a fixed rotation of frame_b with respect to frame_a

    FixedRotation

Library

Mechanics/MultiBody/Parts

Description

Component for a fixed translation and fixed rotation of frame_b with respect to frame_a, i.e., the relationship between connectors frame_a and frame_b remains constant. There are several possibilities to define the orientation of frame_b with respect to frame_a:

  • Planar rotation along axis 'n' (that is fixed and resolved in frame_a) with a fixed angle 'angle'.
  • Vectors n_x and n_y that are directed along the corresponding axes direction of frame_b and are resolved in frame_a (if n_y is not orthogonal to n_x, the y-axis of frame_b is selected such that it is orthogonal to n_x and in the plane of n_x and n_y).
  • Sequence of three planar axes rotations. For example, "sequence = {1,2,3}" and "angles = {90, 45, -90}" means to rotate frame_a around the x axis with 90 degrees, around the new y axis with 45 degrees and around the new z axis around -90 degrees to arrive at frame_b. Note, that sequence={1,2,3} is the Cardan angle sequence and sequence = {3,1,3} is the Euler angle sequence.

By default, this component is visualized by a cylinder connecting frame_a and frame_b, as shown in the figure below. In this figure frame_b is rotated along the z-axis of frame_a with 60 degree. Note, that the two visualized frames are not part of the component animation and that the animation may be switched off via parameter animation = false.

Parts.FixedRotation

Parameters

FixedRotation_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation shall be enabled

Scalar

true
false

mo_r

r

Vector from frame_a to frame_b resolved in frame_a

Vector of size 3

mo_rotationType

rotationType

Type of rotation description

Structure

mo_rotationType/choice1

Rotating frame_a around an angle with a fixed axis

Number

0
1

mo_rotationType/choice2

Resolve two vectors of frame_b in frame_a

Number

0
1

mo_rotationType/choice3

Planar rotation sequence

Number

0
1

mo_n

n

Axis of rotation in frame_a (= same as in frame_b)

Vector of size 3

mo_angle

angle

Angle to rotate frame_a around axis n into frame_b

Scalar

mo_n_x

n_x

Vector along x-axis of frame_b resolved in frame_a

Vector of size 3

mo_n_y

n_y

Vector along y-axis of frame_b resolved in frame_a

Vector of size 3

mo_sequence

sequence

Sequence of rotations

Vector of size 3

mo_angles

angles

Rotation angles around the axes defined in 'sequence'

Vector of size 3

mo_R_rel

R_rel

Fixed rotation object from frame_a to frame_b

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

mo_R_rel_inv

R_rel_inv

Inverse of R_rel (rotate from frame_b to frame_a)

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

FixedRotation_1

NameLabelDescriptionData TypeValid Values

mo_shapeType

shapeType

Type of shape

String

mo_r_shape

r_shape

Vector from frame_a to shape origin, resolved in frame_a

Vector of size 3

mo_lengthDirection

lengthDirection

Vector in length direction of shape, resolved in frame_a

Vector of size 3

mo_widthDirection

widthDirection

Vector in width direction of shape, resolved in frame_a

Vector of size 3

mo_length

length

Length of shape

Scalar

mo_width

width

Width of shape

Scalar

mo_height

height

Height of shape

Scalar

mo_extra

extra

Additional parameter depending on shapeType (see docu of Visualizers.Advanced.Shape)

Scalar

mo_color

color

Color of shape

Vector of size 3

mo_specularCoefficient

specularCoefficient

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

Scalar

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