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tests.SlipWheelOnSurface.md

tests.SlipWheelOnSurface ​

Slip Wheel on a moving surface ​

Exercises the surface option of SlippingWheel/SlipWheelJoint. The wheel's surface_frame is driven directly: a flat road whose height oscillates in time. The frame's x,z coordinates are left free, so the contact patch stays under the wheel (solved by the contact constraints) while the imposed y prescribes the road height. A spinning wheel (der_angles[2] = 25) rolls while the ground heaves.

Usage ​

MultibodyComponents.tests.SlipWheelOnSurface()

Behavior ​

Source ​

dyad
"""
# Slip Wheel on a moving surface

Exercises the `surface` option of `SlippingWheel`/`SlipWheelJoint`. The wheel's
`surface_frame` is driven directly: a flat road whose height oscillates in time.
The frame's x,z coordinates are left free, so the contact patch stays under the
wheel (solved by the contact constraints) while the imposed y prescribes the road
height. A spinning wheel (`der_angles[2] = 25`) rolls while the ground heaves.
"""
example component SlipWheelOnSurface
  world = MultibodyComponents.World() {}
  wheel = MultibodyComponents.SlippingWheel(surface = true, radius = 0.3, m = 2, mu_A = 0.95, mu_S = 0.5, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15, x(initial = 0.2), z(initial = 0.2), angles(initial = [0, 0, 0]), der_angles(initial = [0, 25, 0.1])) {}
relations
  # Road profile imposed on the wheel's surface frame (x,z free, y prescribed).
  wheel.surface_frame.r_0[2] = 0.02 * sin(2 * π * 3 * time)
  wheel.surface_frame.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
end
Flattened Source
dyad
"""
# Slip Wheel on a moving surface

Exercises the `surface` option of `SlippingWheel`/`SlipWheelJoint`. The wheel's
`surface_frame` is driven directly: a flat road whose height oscillates in time.
The frame's x,z coordinates are left free, so the contact patch stays under the
wheel (solved by the contact constraints) while the imposed y prescribes the road
height. A spinning wheel (`der_angles[2] = 25`) rolls while the ground heaves.
"""
example component SlipWheelOnSurface
  world = MultibodyComponents.World() {}
  wheel = MultibodyComponents.SlippingWheel(surface = true, radius = 0.3, m = 2, mu_A = 0.95, mu_S = 0.5, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15, x(initial = 0.2), z(initial = 0.2), angles(initial = [0, 0, 0]), der_angles(initial = [0, 25, 0.1])) {}
relations
  # Road profile imposed on the wheel's surface frame (x,z free, y prescribed).
  wheel.surface_frame.r_0[2] = 0.02 * sin(2 * π * 3 * time)
  wheel.surface_frame.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
metadata {}
end


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