LIBRARY

examples.FourBar

Planar four-bar linkage closed with a RevolutePlanarLoopConstraint.

Five revolute joints form the loop; j4 is replaced with a RevolutePlanarLoopConstraint because the cut forces along the parallel joint axes cannot be uniquely computed. Two of the revolute joints are damped through rotational dampers on their axis splines. The first joint gets a small non-zero initial angle to start the motion.

Usage

MultibodyComponents.examples.FourBar()

Behavior

Source

"""
Planar four-bar linkage closed with a `RevolutePlanarLoopConstraint`.

Five revolute joints form the loop; `j4` is replaced with a
`RevolutePlanarLoopConstraint` because the cut forces along the parallel
joint axes cannot be uniquely computed. Two of the revolute joints are
damped through rotational dampers on their axis splines. The first joint
gets a small non-zero initial angle to start the motion.
"""
example component FourBar
  world = MultibodyComponents.World(default_body_diameter = 0.06, axis_radius = 0.01) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 660, "y1": 190, "x2": 760, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  j1 = MultibodyComponents.Revolute(phi(initial = 0.1)) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 810, "y1": 190, "x2": 910, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  j2 = MultibodyComponents.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 1080, "y1": 190, "x2": 1180, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  j3 = MultibodyComponents.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 35, "y1": 90, "x2": 135, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  j4 = MultibodyComponents.RevolutePlanarLoopConstraint() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 285, "y1": 90, "x2": 385, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  j5 = MultibodyComponents.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 535, "y1": 90, "x2": 635, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  b1 = MultibodyComponents.BodyShape(m = 1, r = [1.5, 0, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 940, "y1": 190, "x2": 1040, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  b2 = MultibodyComponents.BodyShape(m = 1, r = [0, 1.5, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 1210, "y1": 190, "x2": 1310, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  b3 = MultibodyComponents.BodyShape(m = 1, r = [-1.5, 0, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 160, "y1": 90, "x2": 260, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  b4 = MultibodyComponents.BodyShape(m = 1, r = [0, -1.5, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 410, "y1": 90, "x2": 510, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  damper1 = RotationalComponents.Components.Damper(d = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 920, "y1": 80, "x2": 870, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  damper2 = RotationalComponents.Components.Damper(d = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {
          "iconName": "default",
          "x1": 1080,
          "y1": 330,
          "x2": 1120,
          "y2": 370,
          "rot": 180
        }
      },
      "tags": []
    }
  }
relations
  connect(world.frame_b, j1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(j1.frame_b, b1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(b1.frame_b, j2.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(j2.frame_b, b2.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(b2.frame_b, j3.frame_a) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 1335, "y": 240},
            {"x": 1335, "y": 470},
            {"x": 20, "y": 470},
            {"x": 20, "y": 140}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(j3.frame_b, b3.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(b3.frame_b, j4.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(j4.frame_b, b4.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(b4.frame_b, j5.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(j5.frame_b, world.frame_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 775, "y": 140}], "E": -1}, {"S": -1, "M": [], "E": 2}],
      "junctions": [{"x": 775, "y": 240}],
      "renderStyle": "standard"
    }
  }
  connect(j1.axis, damper1.spline_a) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 860, "y": 200}, {"x": 1040, "y": 200}, {"x": 1040, "y": 100}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(j1.support, damper1.spline_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 825, "y": 100}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(j2.axis, damper2.spline_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 1130, "y": 350}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(j2.support, damper2.spline_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 1060, "y": 240}, {"x": 1060, "y": 350}], "E": 2}],
      "renderStyle": "standard"
    }
  }
end

Flattened Source

"""
Planar four-bar linkage closed with a `RevolutePlanarLoopConstraint`.

Five revolute joints form the loop; `j4` is replaced with a
`RevolutePlanarLoopConstraint` because the cut forces along the parallel
joint axes cannot be uniquely computed. Two of the revolute joints are
damped through rotational dampers on their axis splines. The first joint
gets a small non-zero initial angle to start the motion.
"""
example component FourBar
  world = MultibodyComponents.World(default_body_diameter = 0.06, axis_radius = 0.01) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 660, "y1": 190, "x2": 760, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  j1 = MultibodyComponents.Revolute(phi(initial = 0.1)) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 810, "y1": 190, "x2": 910, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  j2 = MultibodyComponents.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 1080, "y1": 190, "x2": 1180, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  j3 = MultibodyComponents.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 35, "y1": 90, "x2": 135, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  j4 = MultibodyComponents.RevolutePlanarLoopConstraint() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 285, "y1": 90, "x2": 385, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  j5 = MultibodyComponents.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 535, "y1": 90, "x2": 635, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  b1 = MultibodyComponents.BodyShape(m = 1, r = [1.5, 0, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 940, "y1": 190, "x2": 1040, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  b2 = MultibodyComponents.BodyShape(m = 1, r = [0, 1.5, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 1210, "y1": 190, "x2": 1310, "y2": 290, "rot": 0}
      },
      "tags": []
    }
  }
  b3 = MultibodyComponents.BodyShape(m = 1, r = [-1.5, 0, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 160, "y1": 90, "x2": 260, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  b4 = MultibodyComponents.BodyShape(m = 1, r = [0, -1.5, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 410, "y1": 90, "x2": 510, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  damper1 = RotationalComponents.Components.Damper(d = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 920, "y1": 80, "x2": 870, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  damper2 = RotationalComponents.Components.Damper(d = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {
          "iconName": "default",
          "x1": 1080,
          "y1": 330,
          "x2": 1120,
          "y2": 370,
          "rot": 180
        }
      },
      "tags": []
    }
  }
relations
  connect(world.frame_b, j1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(j1.frame_b, b1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(b1.frame_b, j2.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(j2.frame_b, b2.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(b2.frame_b, j3.frame_a) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 1335, "y": 240},
            {"x": 1335, "y": 470},
            {"x": 20, "y": 470},
            {"x": 20, "y": 140}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(j3.frame_b, b3.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(b3.frame_b, j4.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(j4.frame_b, b4.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(b4.frame_b, j5.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(j5.frame_b, world.frame_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 775, "y": 140}], "E": -1}, {"S": -1, "M": [], "E": 2}],
      "junctions": [{"x": 775, "y": 240}],
      "renderStyle": "standard"
    }
  }
  connect(j1.axis, damper1.spline_a) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 860, "y": 200}, {"x": 1040, "y": 200}, {"x": 1040, "y": 100}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(j1.support, damper1.spline_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 825, "y": 100}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(j2.axis, damper2.spline_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 1130, "y": 350}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(j2.support, damper2.spline_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 1060, "y": 240}, {"x": 1060, "y": 350}], "E": 2}],
      "renderStyle": "standard"
    }
  }
metadata {}
end

Test Cases

No test cases defined.

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