RollingWheel

Joint that describes an ideal rolling wheel (1 non-holonomic constraint, no states)

Library

Mechanics/Planar/Joints

Description

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

Parameters

    RollingWheel_0

  • n [-] : Wheel axis resolved in frame_a (n): Vector of Size 2.

Ports

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

See Also