LIBRARY

PlanarMechanics.FixedRotation

Fixed angular offset between two frames with no translational offset.

Positions are rigidly connected while orientation differs by a fixed angle alpha.

This component extends from PartialTwoFrames

Usage

MultibodyComponents.PlanarMechanics.FixedRotation(alpha=0, render=true)

Parameters:

Name	Description	Units	Default value
alpha	Fixed rotation angle between frame_a and frame_b	rad	0
render	Render the rotation in animations	–	true

Connectors

• frame_a - Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque.

All variables are resolved in the planar world frame. (Frame2D)

• frame_b - Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque.

All variables are resolved in the planar world frame. (Frame2D)

Behavior

Source

"""
Fixed angular offset between two frames with no translational offset.

Positions are rigidly connected while orientation differs by a fixed angle `alpha`.
"""
component FixedRotation
  extends PartialTwoFrames
  "Fixed rotation angle between frame_a and frame_b"
  parameter alpha::Angle = 0
  "Render the rotation in animations"
  parameter render::Boolean = true
relations
  frame_a.x = frame_b.x
  frame_a.y = frame_b.y
  frame_a.phi + alpha = frame_b.phi
  frame_a.fx + frame_b.fx = 0
  frame_a.fy + frame_b.fy = 0
  frame_a.tau + frame_b.tau = 0
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/FixedRotation.svg"}}}
end

Flattened Source

"""
Fixed angular offset between two frames with no translational offset.

Positions are rigidly connected while orientation differs by a fixed angle `alpha`.
"""
component FixedRotation
  frame_a = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 50, "y1": 450, "x2": 150, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_b = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 850, "y1": 450, "x2": 950, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Fixed rotation angle between frame_a and frame_b"
  parameter alpha::Angle = 0
  "Render the rotation in animations"
  parameter render::Boolean = true
relations
  frame_a.x = frame_b.x
  frame_a.y = frame_b.y
  frame_a.phi + alpha = frame_b.phi
  frame_a.fx + frame_b.fx = 0
  frame_a.fy + frame_b.fy = 0
  frame_a.tau + frame_b.tau = 0
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/FixedRotation.svg"}}}
end

Test Cases

No test cases defined.

Related

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