RollingWheel
Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom)
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
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_animation | animation | = true, if animation of wheel shall be enabled | Scalar | true |
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 | |
mo_stateSelect/choice2 | StateSelect.avoid | Number | 0 | |
mo_stateSelect/choice3 | StateSelect.default | Number | 0 | |
mo_stateSelect/choice4 | StateSelect.prefer | Number | 0 | |
mo_stateSelect/choice5 | StateSelect.always | Number | 0 |
| Name | Label | Description | Data Type | Valid 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 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_x | x | x | Structure | |
mo_x/fixed | fixed | Cell of scalars | true | |
mo_x/start | start | Cell of scalars | ||
mo_y | y | y | Structure | |
mo_y/fixed | fixed | Cell of scalars | true | |
mo_y/start | start | Cell of scalars | ||
mo_angles | angles | angles | Structure | |
mo_angles/fixed | fixed | Cell of vectors of size 3 | true | |
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 | |
mo_der_angles/start | start | Cell of vectors of size 3 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Frame fixed in wheel center point (y-axis: along wheel axis, z-axis: upwards) | input | 1 |