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

$$\begin{array}{rl}\mathtt{frame}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{x}\left(t\right)& =\mathtt{frame}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{x}\left(t\right)\\ \mathtt{frame}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{y}\left(t\right)& =\mathtt{frame}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{y}\left(t\right)\\ \mathtt{alpha}+\mathtt{frame}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{phi}\left(t\right)& =\mathtt{frame}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{phi}\left(t\right)\\ \mathtt{frame}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{fx}\left(t\right)+\mathtt{frame}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{fx}\left(t\right)& =0\\ \mathtt{frame}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{fy}\left(t\right)+\mathtt{frame}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{fy}\left(t\right)& =0\\ \mathtt{frame}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{tau}\left(t\right)+\mathtt{frame}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{tau}\left(t\right)& =0\end{array}$$

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.

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