modelTranslationalFriction
Extends from URDFModelica.Icons.BaseIcon, Modelica.Mechanics.Translational.Interfaces.PartialElementaryTwoFlangesAndSupport2 (Partial model for a component with one translational 1-dim. shaft flange and a support used for textual modeling, i.e., for elementary models).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | useSupport (from PartialElementaryTwoFlangesAndSupport2) | false | = true, if support flange enabled, otherwise implicitly grounded |
| Modelica.Units.SI.Force | Rh | 0 | sticking friction |
| Real | Rv | 1 | viscous friction coefficient |
| Real | steep | 100 | steepness of sticking friction approximation |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Flange_a | flange_a (from PartialTwoFlanges) | (left) driving flange (flange axis directed into cut plane, e. g. from left to right) | |
| Flange_b | flange_b (from PartialTwoFlanges) | (right) driven flange (flange axis directed out of cut plane) | |
| Support | support (from PartialElementaryTwoFlangesAndSupport2) | Support/housing of component |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Length | s_a (from PartialElementaryTwoFlangesAndSupport2) | Distance between left flange and support | |
| SI.Length | s_b (from PartialElementaryTwoFlangesAndSupport2) | Distance between right flange and support | |
| Modelica.Units.SI.Force | f_r | Friction force | |
| Modelica.Units.SI.Velocity | v | Absolute velocity of flange_a and flange_b | |
| Modelica.Units.SI.Position | s | Postion between shaft flanges (flange_a, flange_b) and support |