RollingWheelSet

Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis

    RollingWheelSet

Library

Mechanics/MultiBody/Parts

Description

Two wheels are connected by an axis and can rotate around this axis. The wheels are rolling on the x-y plane of the world frame. The coordinate system attached to the center of the wheel axis (frameMiddle) is constrained so that it is always parallel to the x-y plane. If all generalized coordinates are zero, frameMiddle is parallel to the world frame.

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

RollingWheelSet_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation of wheel set shall be enabled

Scalar

true
false

mo_wheelRadius

wheelRadius

Radius of one wheel

Scalar

mo_wheelMass

wheelMass

Mass of one wheel

Scalar

mo_wheel_I_axis

wheel_I_axis

Inertia along one wheel axis

Scalar

mo_wheel_I_long

wheel_I_long

Inertia perpendicular to one wheel axis

Scalar

mo_wheelDistance

wheelDistance

Distance between the two wheels

Scalar

mo_stateSelect

stateSelect

Priority to use the 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

RollingWheelSet_1

NameLabelDescriptionData TypeValid Values

mo_wheelWidth

wheelWidth

Width of one wheel

Scalar

mo_hollowFraction

hollowFraction

1.0: Completely hollow, 0.0: rigid cylinder

Scalar

mo_wheelColor

wheelColor

Color of wheels

Vector of size 3

RollingWheelSet_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_phi

phi

phi

Structure

mo_phi/fixed

fixed

Cell of scalars

true
false

mo_phi/start

start

Cell of scalars

mo_theta1

theta1

theta1

Structure

mo_theta1/fixed

fixed

Cell of scalars

true
false

mo_theta1/start

start

Cell of scalars

mo_theta2

theta2

theta2

Structure

mo_theta2/fixed

fixed

Cell of scalars

true
false

mo_theta2/start

start

Cell of scalars

mo_der_theta1

der_theta1

der_theta1

Structure

mo_der_theta1/fixed

fixed

Cell of scalars

true
false

mo_der_theta1/start

start

Cell of scalars

mo_der_theta2

der_theta2

der_theta2

Structure

mo_der_theta2/fixed

fixed

Cell of scalars

true
false

mo_der_theta2/start

start

Cell of scalars

mo_wheelSetJoint

wheelSetJoint

wheelSetJoint

Structure

mo_wheelSetJoint/fixed

fixed

Cell of scalars

Ports

NameTypeDescriptionIO TypeNumber

frameMiddle

implicit

Frame fixed in middle of axis connecting both wheels (y-axis: along wheel axis, z-axis: upwards)

input

1

frame1

implicit

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

input

2

frame2

implicit

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

output

1

axis1

implicit

1-dim. rotational flange that drives the left wheel

input

3

axis2

implicit

1-dim. rotational flange that drives the right wheel

input

4

support

implicit

Support of 1D axes

output

2