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tests.SphericalPendulum.md

tests.SphericalPendulum ​

Spherical Pendulum ​

A pendulum using a Spherical joint. The spherical joint connects the world frame to a bar with a body at the end, creating a three-degree-of-freedom pendulum.

Usage ​

MultibodyComponents.tests.SphericalPendulum()

Behavior ​

julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@named sys = MultibodyComponents.tests.SphericalPendulum() #hide
let eqs = full_equations(sys); Base.length(eqs) > 25 ? nothing : eqs end #hide
<< @example-block not executed in draft mode >>

Source ​

dyad
"""
# Spherical Pendulum

A pendulum using a Spherical joint.
The spherical joint connects the world frame to a bar with a body at the end,
creating a three-degree-of-freedom pendulum.
"""
example component SphericalPendulum
  world = MultibodyComponents.World() {}
  joint = MultibodyComponents.Spherical(orientation_state = OrientationState.Euler()) {}
  bar = MultibodyComponents.FixedTranslation(r = [0, -1, 0]) {}
  body = MultibodyComponents.Body(m = 1) {}
relations
  connect(world.frame_b, joint.frame_a) {}
  connect(joint.frame_b, bar.frame_a) {}
  connect(bar.frame_b, body.frame_a) {}
end
Flattened Source
dyad
"""
# Spherical Pendulum

A pendulum using a Spherical joint.
The spherical joint connects the world frame to a bar with a body at the end,
creating a three-degree-of-freedom pendulum.
"""
example component SphericalPendulum
  world = MultibodyComponents.World() {}
  joint = MultibodyComponents.Spherical(orientation_state = OrientationState.Euler()) {}
  bar = MultibodyComponents.FixedTranslation(r = [0, -1, 0]) {}
  body = MultibodyComponents.Body(m = 1) {}
relations
  connect(world.frame_b, joint.frame_a) {}
  connect(joint.frame_b, bar.frame_a) {}
  connect(bar.frame_b, body.frame_a) {}
metadata {}
end


Test Cases ​

No test cases defined.

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julia
<< @example-block not executed in draft mode >>