CMPJ_FreeMotion Coselica block
Free motion joint (3 degrees-of-freedom, 6 states)
initType [-] : Type of initial value for [r_rel_a,v_rel_a,a_rel_a,phi_rel,w_rel,z_rel] (0=guess,1=fixed)
Properties : Type 'vec' of size 6.
Default value : [0,0,0,0,0,0]
r_rel_a_start [m] : Initial values of r_rel_a (vector from origin of frame_a to origin of frame_b resolved in frame_a)
Properties : Type 'vec' of size 2.
Default value : [0,0]
v_rel_a_start [m/s] : Initial values of velocity v_rel_a = der(r_rel_a)
Properties : Type 'vec' of size 2.
Default value : [0,0]
a_rel_a_start [m/s2] : Initial values of acceleration a_rel_a = der(v_rel_a)
Properties : Type 'vec' of size 2.
Default value : [0,0]
phi_rel_start [rad] : Initial value of angle phi_rel to rotate frame_a into frame_b
Properties : Type 'vec' of size 1.
Default value : 0
w_rel_start [rad/s] : Initial value of angular velocity w_rel = der(phi_rel) of frame_b with respect to frame_a
Properties : Type 'vec' of size 1.
Default value : 0
z_rel_start [rad/s2] : Initial value of angular acceleration z_rel = der(w_rel) of frame_b with respect to frame_a
Properties : Type 'vec' of size 1.
Default value : 0
Inputs :
Modelica variable name : 'frame_a'
Implicit variable (Mechanics Planar type).
Outputs :
Modelica variable name : 'frame_b'
Implicit variable (Mechanics Planar type).
Parameters :
Modelica parameter name : 'initType'
Default value : [0,0,0,0,0,0]
Modelica parameter name : 'r_rel_a_start'
Default value : [0,0]
Modelica parameter name : 'v_rel_a_start'
Default value : [0,0]
Modelica parameter name : 'a_rel_a_start'
Default value : [0,0]
Modelica parameter name : 'phi_rel_start'
Default value : 0
Modelica parameter name : 'w_rel_start'
Default value : 0
Modelica parameter name : 'z_rel_start'
Default value : 0
CMPJ_FreeMotion.sci
Coselica.Mechanics.Planar.Joints.FreeMotion in COSELICA/macros/Coselica.mo file