# gyro_moment.mbd #----------------------------------------------------------------------------- # [Data Block] begin: data; problem: initial value; end: data; #----------------------------------------------------------------------------- # [ Block] begin: initial value; initial time: 0.; final time: 8.5; time step: 1.e-3; max iterations: 10; tolerance: 1.e-6; end: initial value; #----------------------------------------------------------------------------- # [Control Data Block] begin: control data; output frequency: 10; structural nodes: 3; rigid bodies: 3; joints: 4; end: control data; #----------------------------------------------------------------------------- # Design Variables set: real I_Stage = 0.1; #[kg m^2] Moment of Inertia of Stage set: real M_Wheel = 3.; #[kg] Mass of Wheel set: real R_Wheel = 0.4; #[m] Radius of Wheel set: real H_Arm = 1.; #[m] Height of Arm set: real L_Arm = 0.6; #[m] Length of Arm set: real W_Wheel = 10*pi; #[rad/s] Angular Velocity of Wheel #----------------------------------------------------------------------------- # Reference Labels set: integer Ref_Wheel_Spindle = 1; # Node Labels set: integer Node_Stage = 1; set: integer Node_Arm = 2; set: integer Node_Wheel = 3; # Body Labels set: integer Body_Stage = 1; set: integer Body_Arm = 2; set: integer Body_Wheel = 3; # Joint Labels set: integer JoRevp_Stage = 1; set: integer JoSphh_Stage_Arm = 2; set: integer JoDrivh_Stage_Arm = 3; set: integer JoRevh_Arm_Wheel = 4; #----------------------------------------------------------------------------- # Intermediate Variables set: real Ixx_Wheel = M_Wheel*R_Wheel^2./4.; set: real Iyy_Wheel = M_Wheel*R_Wheel^2./4.; set: real Izz_Wheel = M_Wheel*R_Wheel^2./2.; #----------------------------------------------------------------------------- # References reference: Ref_Wheel_Spindle, 0., L_Arm, H_Arm, # absolute position euler, 0., pi/2., 0., # absolute orientation null, # absolute velocity null; # absolute angular velocity #----------------------------------------------------------------------------- # [Nodes Block] begin: nodes; #----------------------------------------------------------------------------- # Nodes structural: Node_Stage, dynamic, null, # absolute position eye, # absolute orientation null, # absolute velocity null; # absolute angular velocity structural: Node_Arm, dynamic, 0., 0., H_Arm, # absolute position euler, -pi/2., 0., 0., # absolute orientation null, # absolute velocity null; # absolute angular velocity structural: Node_Wheel, dynamic, reference, Ref_Wheel_Spindle, null, # absolute position reference, Ref_Wheel_Spindle, eye, # absolute orientation reference, Ref_Wheel_Spindle, null, # absolute velocity reference, Ref_Wheel_Spindle, 0., 0., -W_Wheel; # absolute angular velocity end: nodes; #----------------------------------------------------------------------------- # [Elements Block] begin: elements; #----------------------------------------------------------------------------- # Bodies body: Body_Stage, Node_Stage, 1., # mass null, # relative center of mass diag, 1., 1., I_Stage; # inertia matrix body: Body_Arm, Node_Arm, 1., # mass null, # relative center of mass diag, 1.e-6, 1.e-6, 1.e-6; # inertia matrix body: Body_Wheel, Node_Wheel, M_Wheel, # mass null, # relative center of mass diag, Ixx_Wheel, Iyy_Wheel, Izz_Wheel; # inertia matrix #----------------------------------------------------------------------------- # Joints joint: JoRevp_Stage, revolute pin, Node_Stage, null, # relative offset null; # absolute pin position joint: JoSphh_Stage_Arm, spherical hinge, Node_Stage, 0., 0., H_Arm, # relative offset Node_Arm, null; # relative offset joint: JoDrivh_Stage_Arm, drive hinge, Node_Stage, hinge, euler, -pi/2., 0., 0., # relative axis orientation Node_Arm, hinge, eye, # relative axis orientation single, 0., 0., 1., scalar function, "Fun_Arm_Input", # position multilinear, 0.0, 0., 0.5, 0., 1.0, pi/4., 1.5, pi/4., 2.0, pi/2., 2.5, pi/2., 3.0, pi/4., 3.5, pi/4., 4.0, 0, 4.5, 0, 5.0, -pi/4., 5.5, -pi/4., 6.0, -pi/2., 6.5, -pi/2., 7.0, -pi/4., 7.5, -pi/4., 8.0, 0., 8.5, 0.; joint: JoRevh_Arm_Wheel, revolute hinge, Node_Arm, reference, Ref_Wheel_Spindle, null, # relative offset hinge, reference, Ref_Wheel_Spindle, eye, # relative axis orientation Node_Wheel, reference, Ref_Wheel_Spindle, null, # relative offset hinge, reference, Ref_Wheel_Spindle, eye; # relative axis orientation end: elements;