LIBRARY

`RollingWheelSet`

Ideal two-wheel rolling axle with masses and inertia per wheel.

Wraps RollingWheelSetJoint and adds two Body instances at the wheel centers. Connect driving torques between axis1/axis2 and support.

This component extends from Renderable

Usage

MultibodyComponents.RollingWheelSet(render=true, color=[0.118, 0.118, 0.118, 1], specular_coefficient=1.5, radius=0.3, m_wheel=1.0, I_axis=1.0, I_long=1.0, track=1.0, width_wheel=0.01)

Parameters:

Name	Units	Default value
`render`	–	true
`color`	–	[0.118, 0.118, 0.118, 1]
`specular_coefficient`	–	1.5
`radius`	m	0.3
`m_wheel`	kg	1.0
`I_axis`	kg.m2	1.0
`I_long`	kg.m2	1.0
`track`	m	1.0
`width_wheel`	m	0.01

Connectors

frame_middle - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

frame1 - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

frame2 - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

axis1 - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)
axis2 - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)
support - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

Variables

Name	Description	Units
`x`		m
`z`		m
`phi`		rad
`theta1`		rad
`theta2`		rad
`der_theta1`		rad/s
`der_theta2`		rad/s

Behavior

Source

dyad

"""
Ideal two-wheel rolling axle with masses and inertia per wheel.

Wraps `RollingWheelSetJoint` and adds two `Body` instances at the wheel
centers. Connect driving torques between `axis1`/`axis2` and `support`.
"""
component RollingWheelSet
  extends Renderable(color = [0.118, 0.118, 0.118, 1])
  frame_middle = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 450, "x2": 550, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame1 = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame2 = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": 450, "x2": 1050, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  axis1 = Spline() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": -50, "x2": 50, "y2": 50, "rot": 0}
      },
      "tags": []
    }
  }
  axis2 = Spline() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": -50, "x2": 1050, "y2": 50, "rot": 0}
      },
      "tags": []
    }
  }
  support = Spline() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 90, "x2": 550, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  wheelSetJoint = MultibodyComponents.RollingWheelSetJoint(final radius = radius, final track = track, final width_wheel = width_wheel) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 280, "x2": 550, "y2": 380, "rot": 0}
      },
      "tags": []
    }
  }
  body1 = MultibodyComponents.Body(final m = m_wheel, final I_11 = I_long, final I_22 = I_long, final I_33 = I_axis, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 120, "y1": 300, "x2": 220, "y2": 400, "rot": 270}
      },
      "tags": []
    }
  }
  body2 = MultibodyComponents.Body(final m = m_wheel, final I_11 = I_long, final I_22 = I_long, final I_33 = I_axis, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 790, "y1": 300, "x2": 890, "y2": 400, "rot": 270}
      },
      "tags": []
    }
  }
  shape1 = CylinderShape(render = render, color = color, r = frame1.r_0, R = transpose(frame1.R), length_direction = [0, 0, 1], length = 2 * width_wheel, width = 2 * radius, height = 2 * radius, r_shape = [0, 0, -width_wheel]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 30, "y1": 870, "x2": 130, "y2": 970, "rot": 0}
      },
      "tags": []
    }
  }
  shape2 = CylinderShape(render = render, color = color, r = frame2.r_0, R = transpose(frame2.R), length_direction = [0, 0, 1], length = 2 * width_wheel, width = 2 * radius, height = 2 * radius, r_shape = [0, 0, -width_wheel]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 160, "y1": 870, "x2": 260, "y2": 970, "rot": 0}
      },
      "tags": []
    }
  }
  parameter radius::Length = 0.3
  parameter m_wheel::Mass = 1.0
  parameter I_axis::Inertia = 1.0
  parameter I_long::Inertia = 1.0
  parameter track::Length = 1.0
  parameter width_wheel::Length = 0.01
  variable x::Length(statePriority = 100, initial = 0)
  variable z::Length(statePriority = 100, initial = 0)
  variable phi::Angle(statePriority = 100, initial = 0)
  variable theta1::Angle(statePriority = 100, initial = 0)
  variable theta2::Angle(statePriority = 100, initial = 0)
  variable der_theta1::AngularVelocity(statePriority = 100, initial = 0)
  variable der_theta2::AngularVelocity(statePriority = 100, initial = 0)
relations
  wheelSetJoint.x = x
  wheelSetJoint.z = z
  wheelSetJoint.phi = phi
  wheelSetJoint.theta1 = theta1
  wheelSetJoint.theta2 = theta2
  der_theta1 = der(theta1)
  der_theta2 = der(theta2)
  connect(body1.frame_a, frame1, wheelSetJoint.frame1) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [{"x": 170, "y": 500}], "E": 2},
        {"S": 3, "M": [{"x": 310, "y": 330}, {"x": 310, "y": 500}], "E": -1}
      ],
      "junctions": [{"x": 170, "y": 500}],
      "renderStyle": "standard"
    }
  }
  connect(body2.frame_a, frame2, wheelSetJoint.frame2) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [{"x": 840, "y": 500}], "E": 2},
        {"S": 3, "M": [{"x": 695, "y": 330}, {"x": 695, "y": 500}], "E": -1}
      ],
      "junctions": [{"x": 840, "y": 500}],
      "renderStyle": "standard"
    }
  }
  connect(wheelSetJoint.axis1, axis1) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 270, "y": 287}, {"x": 270, "y": 0}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(wheelSetJoint.axis2, axis2) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 760, "y": 287}, {"x": 760, "y": 0}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(wheelSetJoint.support, support) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(frame_middle, wheelSetJoint.frame_middle) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/RollingWheelSet.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 1080,
        "rot": 0,
        "attrs": {"font-size": "120"}
      }
    ]
  }
}
end

Flattened Source

dyad

"""
Ideal two-wheel rolling axle with masses and inertia per wheel.

Wraps `RollingWheelSetJoint` and adds two `Body` instances at the wheel
centers. Connect driving torques between `axis1`/`axis2` and `support`.
"""
component RollingWheelSet
  parameter render::Boolean = true
  parameter color::Real[4] = [0.5, 0.5, 0.5, 1.0]
  parameter specular_coefficient::Real = 1.5
  frame_middle = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 450, "x2": 550, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame1 = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame2 = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": 450, "x2": 1050, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  axis1 = Spline() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": -50, "x2": 50, "y2": 50, "rot": 0}
      },
      "tags": []
    }
  }
  axis2 = Spline() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": -50, "x2": 1050, "y2": 50, "rot": 0}
      },
      "tags": []
    }
  }
  support = Spline() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 90, "x2": 550, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  wheelSetJoint = MultibodyComponents.RollingWheelSetJoint(final radius = radius, final track = track, final width_wheel = width_wheel) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 280, "x2": 550, "y2": 380, "rot": 0}
      },
      "tags": []
    }
  }
  body1 = MultibodyComponents.Body(final m = m_wheel, final I_11 = I_long, final I_22 = I_long, final I_33 = I_axis, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 120, "y1": 300, "x2": 220, "y2": 400, "rot": 270}
      },
      "tags": []
    }
  }
  body2 = MultibodyComponents.Body(final m = m_wheel, final I_11 = I_long, final I_22 = I_long, final I_33 = I_axis, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 790, "y1": 300, "x2": 890, "y2": 400, "rot": 270}
      },
      "tags": []
    }
  }
  shape1 = CylinderShape(render = render, color = color, r = frame1.r_0, R = transpose(frame1.R), length_direction = [0, 0, 1], length = 2 * width_wheel, width = 2 * radius, height = 2 * radius, r_shape = [0, 0, -width_wheel]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 30, "y1": 870, "x2": 130, "y2": 970, "rot": 0}
      },
      "tags": []
    }
  }
  shape2 = CylinderShape(render = render, color = color, r = frame2.r_0, R = transpose(frame2.R), length_direction = [0, 0, 1], length = 2 * width_wheel, width = 2 * radius, height = 2 * radius, r_shape = [0, 0, -width_wheel]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 160, "y1": 870, "x2": 260, "y2": 970, "rot": 0}
      },
      "tags": []
    }
  }
  parameter radius::Length = 0.3
  parameter m_wheel::Mass = 1.0
  parameter I_axis::Inertia = 1.0
  parameter I_long::Inertia = 1.0
  parameter track::Length = 1.0
  parameter width_wheel::Length = 0.01
  variable x::Length(statePriority = 100, initial = 0)
  variable z::Length(statePriority = 100, initial = 0)
  variable phi::Angle(statePriority = 100, initial = 0)
  variable theta1::Angle(statePriority = 100, initial = 0)
  variable theta2::Angle(statePriority = 100, initial = 0)
  variable der_theta1::AngularVelocity(statePriority = 100, initial = 0)
  variable der_theta2::AngularVelocity(statePriority = 100, initial = 0)
relations
  wheelSetJoint.x = x
  wheelSetJoint.z = z
  wheelSetJoint.phi = phi
  wheelSetJoint.theta1 = theta1
  wheelSetJoint.theta2 = theta2
  der_theta1 = der(theta1)
  der_theta2 = der(theta2)
  connect(body1.frame_a, frame1, wheelSetJoint.frame1) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [{"x": 170, "y": 500}], "E": 2},
        {"S": 3, "M": [{"x": 310, "y": 330}, {"x": 310, "y": 500}], "E": -1}
      ],
      "junctions": [{"x": 170, "y": 500}],
      "renderStyle": "standard"
    }
  }
  connect(body2.frame_a, frame2, wheelSetJoint.frame2) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [{"x": 840, "y": 500}], "E": 2},
        {"S": 3, "M": [{"x": 695, "y": 330}, {"x": 695, "y": 500}], "E": -1}
      ],
      "junctions": [{"x": 840, "y": 500}],
      "renderStyle": "standard"
    }
  }
  connect(wheelSetJoint.axis1, axis1) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 270, "y": 287}, {"x": 270, "y": 0}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(wheelSetJoint.axis2, axis2) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 760, "y": 287}, {"x": 760, "y": 0}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(wheelSetJoint.support, support) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(frame_middle, wheelSetJoint.frame_middle) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/RollingWheelSet.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 1080,
        "rot": 0,
        "attrs": {"font-size": "120"}
      }
    ]
  }
}
end

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RollingWheelSet ​

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`RollingWheelSet`

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