Frames

Docstrings

Multibody.FrameFunction
Frame(; name)

Frame is the fundamental 3D connector in the multibody library. Most components have one or several Frame connectors that can be connected together.

The Frame connector has internal variables for

  • r_0: The position vector from the world frame to the frame origin, resolved in the world frame
  • f: The cut force resolved in the connector frame
  • tau: The cut torque resolved in the connector frame
  • Depending on usage, also rotation and rotational velocity variables, accessed using ori(frame).R and ori(frame).w. The rotation matrix represents the rotation to rotate the world frame into the connector frame

Parameters

  • render = false: If true, the connector is rendered in animations
  • length = 1.0: Length of the frame when rendered
  • radius = 0.1: Radius of the frame when rendered
source
Multibody.PlanarMechanics.PartialTwoFramesConstant
PartialTwoFrames(;name)

Partial model with two frames

Connectors:

  • frame_a Frame Coordinate system fixed to the component with one cut-force and cut-torque
  • frame_b Frame Coordinate system fixed to the component with one cut-force and cut-torque
source
Multibody.PlanarMechanics.FrameFunction
Frame(;name)

Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque. All variables are resolved in the planar world frame.

Variables:

  • x: [m] x position
  • y: [m] y position
  • phi: [rad] rotation angle (counterclockwise)
  • fx: [N] force in the x direction
  • fy: [N] force in the y direction
  • tau: [N.m] torque (clockwise)

Parameters:

  • render: [Bool] Render the joint in animations
  • length: [m] Length of each axis in animations
  • radius: [m] Radius of each axis in animations
source