A rigid body with assigned mass and inertia. [1]
Modeling Approach[edit]
The rigid body shape has two frames, frame_a and frame_b located at, notionally, two ends.
The shape is specified by length,width,and height, located at r_shape.
Required Parameters[edit]
| name |
type |
description
|
| r |
SIunits.Position |
vector from frame_a to frame_b such that {1, 0, 0} describes a 1<unit> long box with the length in the x direction.
|
| r_CM |
SIunits.Position |
vector from frame_a to the center of mass such that {1, 0, 0} positions the center of mass {1,0,0} from frame_a.
|
| m |
SIunits.Mass |
the body's mass.
|
Optional Parameters[edit]
| name |
type |
default |
description
|
| I_11 |
SIunits.Inertia |
0.001 |
inertia element
|
| I_22 |
SIunits.Inertia |
0.001 |
inertia element
|
| I_33 |
SIunits.Inertia |
0.001 |
inertia element
|
| I_21 |
SIunits.Inertia |
0 |
inertia element
|
| I_31 |
SIunits.Inertia |
0 |
inertia element
|
| I_32 |
SIunits.Inertia |
0 |
inertia element
|
Public Fields[edit]
| name |
type |
description
|
| frame_a |
Interfaces.Frame_a |
Coordinate system fixed to the component with one cut-force and cut-torque
|
| frame_b |
Interfaces.Frame_b |
Coordinate system fixed to the component with one cut-force and cut-torque
|
| r_0 |
SIunits.Position |
Position vector from origin of world frame to origin of frame_a
|
| v_0 |
SIunits.Velocity |
Absolute velocity of frame_a, resolved in world frame (= der(r_0))
|
| a_0 |
SIunits.Acceleration |
Absolute acceleration of frame_a resolved in world frame (= der(v_0))
|
| R |
Frames.Orientation |
Orientation object from frame_a to coordinates system spanned by r and widthDirection
|
| I |
SIunits.Inertia |
Inertia tensor of body box with respect to center of mass, parallel to frame_a
|
Examples[edit]