BodyCylinder

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

    BodyCylinder

Library

Mechanics/MultiBody/Parts

Description

Rigid body with cylinder shape. The mass properties of the body (mass, center of mass, inertia tensor) are computed from the cylinder data. Optionally, the cylinder may be hollow. The cylinder shape is by default used 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.BodyCylinder

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

Parameters

BodyCylinder_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation shall be enabled (show cylinder 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 cylinder origin, resolved in frame_a

Vector of size 3

mo_lengthDirection

lengthDirection

Vector in length direction of cylinder, resolved in frame_a

Vector of size 3

mo_length

length

Length of cylinder

Scalar

mo_diameter

diameter

Diameter of cylinder

Scalar

mo_innerDiameter

innerDiameter

Inner diameter of cylinder (0 <= innerDiameter <= Diameter)

Scalar

mo_density

density

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

Scalar

mo_color

color

Color of cylinder

Vector of size 3

mo_specularCoefficient

specularCoefficient

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

Scalar

mo_radius

radius

Radius of cylinder

Scalar

mo_innerRadius

innerRadius

Inner-Radius of cylinder

Scalar

mo_mo

mo

Mass of cylinder without hole

Scalar

mo_mi

mi

Mass of hole of cylinder

Scalar

mo_I22

I22

Inertia with respect to axis through center of mass, perpendicular to cylinder axis

Scalar

mo_m

m

Mass of cylinder

Scalar

mo_R

R

Orientation object from frame_a to frame spanned by cylinder axis and axis perpendicular to cylinder axis

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

mo_r_CM

r_CM

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

Vector of size 3

mo_I

I

Inertia tensor of cylinder with respect to center of mass, resolved in frame parallel to frame_a

Matrix of size 3x3

BodyCylinder_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

BodyCylinder_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

BodyCylinder_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