BodyShape

Rigid body with mass, inertia tensor and two frame connectors (no states)

Library

Mechanics/Planar/Parts

Description

This is a model of a rigid body with mass and inertia and two frame connectors. The center of mass  is given by a parameter vector r_CM resolved in frame_a (left). The translation of frame_b (right) with respect to frame_a (left) is given by a parameter vector r resolved in frame_a (left).

Parameters

    BodyShape_0

  • r [m] : Vector from frame_a to frame_b resolved in frame_a (r): Vector of Size 2.
  • r_CM [m] : Vector from frame_a to center of mass, resolved in frame_a (r_CM): Vector of Size 2.
  • m [kg] : Mass of rigid body (m >= 0) (m): Scalar.
  • I [kg.m2] : Inertia of rigid body (I >= 0) (I): Scalar.
  • initType [-] : Type of initial value for [r_0,v_0,a_0,phi,w,z] (0=guess,1=fixed) (initType): Vector of Size 6.
  • r_0_start [m] : Initial values of frame_a.r_0 (position origin of frame_a resolved in world frame) (r_0_start): Vector of Size 2.
  • v_0_start [m/s] : Initial values of velocity v = der(frame_a.r_0) (v_0_start): Vector of Size 2.
  • a_0_start [m/s2] : Initial values of acceleration a = der(v) (a_0_start): Vector of Size 2.
  • phi_start [rad] : Initial value of angle phi to rotate world frame into frame_a (phi_start): Scalar.
  • w_start [rad/s] : Initial value of angular velocity w = der(phi) of frame_a (w_start): Scalar.
  • z_start [rad/s2] : Initial value of angular acceleration z = der(w) of frame_a (z_start): Scalar.

Ports

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

See Also