Wheel Axle

Converts rotational motion to translational motion

Description

Important: The Wheel Axle component has been deprecated. Instead, use Ideal Rolling Wheel component.

The Wheel Axle component models an ideal wheel, without mass or inertia, that transforms 1-D rotational motion into 1-D translational motion depending on the wheel radius.

The value of the parameter $\mathrm{dir}$ is equal to $1$ if a positive rotation produces a positive displacement at $\mathrm{tflange}$ . If the direction is reversed, dir is equal to -1.

Connections

 Name Description Modelica ID rflange Rotational connection rflange tflange Translational connection tflange

Variables

 Symbol Units Description ${\mathrm{τ}}_{R}$ $N\cdot m$ Torque at rflange ${\mathrm{φ}}_{R}$ $\mathrm{rad}$ Angle of rflange ${\mathrm{f}}_{T}$ $N$ Force at tflange ${s}_{T}$ $m$ Position of tflange

Parameters

 Symbol Default Units Description $r$ $0.05$ $m$ Radius of the wheel. $\mathrm{dir}$ $1$ - Direction of the wheel. This is either 1 or -1.

Initial Conditions

 Symbol Units Description Modelica ID ${\mathrm{ω}}_{0}$ - Initial or guess value of the angular velocity, $\mathrm{ω}=\mathrm{der}\left(\mathrm{φ}\right)$ omega(0) ${\mathrm{sr}}_{0}$ - Initial position of $\mathrm{tflange}$ sr(0) ${\mathrm{Fr}}_{0}$ - Initial force out of $\mathrm{tflange}$ Fr(0) ${\mathrm{Tc}}_{0}$ - Initial torque at $\mathrm{rflange}$ Tc(0)