Modelica.Mechanics.MultiBody.Examples.Constraints

Information

This package is a collection of simulatable models involving constraints in a multibody system. The examples mainly show comparison of constraints to the standard joints.

Package Content

Name	Description
PrismaticConstraint	Body attached by one spring and two prismatic joints or constrained to environment
RevoluteConstraint	Body attached by one spring and revolute joint or constrained to environment
SphericalConstraint	Body attached by one spring and spherical joint or constrained to environment
UniversalConstraint	Body attached by one spring and universal joint or constrained to environment

Modelica.Mechanics.MultiBody.Examples.Constraints.PrismaticConstraint

Information

This example demonstrates the functionality of constraint representing prismatic joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by two serial coupled prismatic joints or by appropriate constraint. Therefore, the body can only perform translation in two directions specified in the two joints depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict both position and angle deviations in the constraining element.

Parameters

Name	Description
animation	True, if animation shall be enabled

Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint

Information

This example demonstrates the functionality of constraint representing revolute joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by revolute joint or by appropriate constraint. Therefore, the body can only perform rotation about the revolute axis depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict both position and angle deviations in the constraining element.

Parameters

Name	Description
animation	= true, if animation shall be enabled

Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint

Information

This example demonstrates the functionality of constraint representing spherical joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by spherical joint or by appropriate constraint. Therefore, the body can only perform spherical movement depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict position deviations in the constraining element.

Parameters

Name	Description
animation	= true, if animation shall be enabled

Modelica.Mechanics.MultiBody.Examples.Constraints.UniversalConstraint

Information

This example demonstrates the functionality of constraint representing universal joint. Each of two bodies is at one of its end connected by spring to the world. The other end is also connected to the world either by universal joint or by appropriate constraint. Therefore, the body can only perform rotation about two revolute axes depending on working forces.

Simulation results

After simulating the model, see the animation of the multibody system and compare movement of body connected by joint (blue colored) with movement of that one connected by constraint (of green color). Additionally, the outputs from sensorConstraintRelative depict position deviations in the constraining element.

Parameters

Name	Description
animation	= true, if animation shall be enabled