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PlanarMechanics.Fixed.md

PlanarMechanics.Fixed ​

Frame fixed in the planar world frame at a given position and orientation.

Usage ​

MultibodyComponents.PlanarMechanics.Fixed(r=[0, 0], phi=0)

Parameters: ​

NameDescriptionUnitsDefault value
rFixed absolute xy-position, resolved in planarWorld framem[0, 0]
phiFixed anglerad0

Connectors ​

  • 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 ​

julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@variables r #hide
@variables phi #hide
@named sys = MultibodyComponents.PlanarMechanics.Fixed(r=r, phi=phi) #hide
full_equations(sys) #hide
<< @example-block not executed in draft mode >>

Source ​

dyad
"Frame fixed in the planar world frame at a given position and orientation."
component Fixed
  frame_b = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 450, "x2": 550, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Fixed absolute xy-position, resolved in planarWorld frame"
  parameter r::Dyad.Position[2] = [0, 0]
  "Fixed angle"
  parameter phi::Angle = 0
relations
  [frame_b.x, frame_b.y] = r
  frame_b.phi = phi
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/Fixed.svg"}}}
end
Flattened Source
dyad
"Frame fixed in the planar world frame at a given position and orientation."
component Fixed
  frame_b = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 450, "x2": 550, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Fixed absolute xy-position, resolved in planarWorld frame"
  parameter r::Dyad.Position[2] = [0, 0]
  "Fixed angle"
  parameter phi::Angle = 0
relations
  [frame_b.x, frame_b.y] = r
  frame_b.phi = phi
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/Fixed.svg"}}}
end


Test Cases ​

No test cases defined.