ActuatedRollingWheel

Joint that describes an ideal actuated rolling wheel (1 non-holonomic constraint, 1 state)

Library

Mechanics/Planar/Joints

Description

This block decribes a wheel rolling on the xy-plane without slip, mass and inertia.

Two 1-dimensional mechanical flanges bearing (top left) and axis (top right),  connected to blocks of the palette Mechanics/Rotational, can be used to drive the wheel.

Parameters

    ActuatedRollingWheel_0

  • radius [m] : Radius of wheel (radius): Scalar.
  • n [-] : Wheel axis resolved in frame_a (n): Vector of Size 2.

Ports

  • Port 1 at left position: implicit input fixedport numbered 1.
  • Port 1 at top position: implicit input fixedport numbered 2.
  • Port 2 at top position: implicit output fixedport numbered 1.

See Also