BodyShape

A rigid body with assigned mass and inertia. [1]

Modeling Approach

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

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

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

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