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MBDynモデル集

1. 自由落下する剛体

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FreeFallingBody_Schematic

入力ファイル

free_falling_body_E.mbd
# free_falling_body_E.mbd

begin: data;
   problem: initial value;
end: data;
 
begin: initial value;
   initial time:   0.;
   final time:     1.;
   time step:      1.e-3;
   max iterations: 10;
   tolerance:      1.e-6;
end: initial value;
 
begin: control data;
   structural nodes: 1;
   rigid bodies:     1;
   gravity;
end: control data;

# Design Variables
set: real Vy0 = 3.; #[m/s] Initial horizontal speed
set: real M   = 1.; #[kg]  Mass of the ball

# Node Labels
set: integer Node_Ball = 1;

# Body Labels
set: integer Body_Ball = 1;
 
begin: nodes;
   structural: Node_Ball, dynamic,
      null,        # absolute position
      eye,         # absolute orientation
      0., Vy0, 0., # absolute velocity
      null;        # absolute angular velocity
      
end: nodes;
 
begin: elements;
   body: Body_Ball, Node_Ball,
      M,    # mass
      null, # relative center of mass
      eye;  # inertia matrix
      
   gravity: 0., 0., -1., const, 9.81;
   
end: elements;