RollingWheel

Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom)

    RollingWheel

Library

Mechanics/MultiBody/Parts

Description

A wheel rolling on the x-y plane of the world frame including wheel mass and simple visualization. The rolling contact is considered being ideal, i.e. there is no slip 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 rotates with the wheel itself. Therefore, a rotational joint with rotation axis n={0,1,0} should be used to connect 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

RollingWheel_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation of wheel shall be enabled

Scalar

true
false

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
1

mo_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_stateSelect/choice3

StateSelect.default

Number

0
1

mo_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_stateSelect/choice5

StateSelect.always

Number

0
1

RollingWheel_1

NameLabelDescriptionData TypeValid 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

RollingWheel_2

NameLabelDescriptionData TypeValid Values

mo_x

x

x

Structure

mo_x/fixed

fixed

Cell of scalars

true
false

mo_x/start

start

Cell of scalars

mo_y

y

y

Structure

mo_y/fixed

fixed

Cell of scalars

true
false

mo_y/start

start

Cell of scalars

mo_angles

angles

angles

Structure

mo_angles/fixed

fixed

Cell of vectors of size 3

true
false

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
false

mo_der_angles/start

start

Cell of vectors of size 3

Ports

NameTypeDescriptionIO TypeNumber

frame_a

implicit

Frame fixed in wheel center point (y-axis: along wheel axis, z-axis: upwards)

input

1