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Fixed Frame

A stationary frame with a fixed displacement and orientation relative to ground

 

Description

Connections

Parameters

See Also

Description

A Fixed Frame is attached rigidly to the mechanical ground.  The frame of the component, which is shown in the diagram below as x2y2z2, may be rotated and offset with respect to the ground frame, which is represented by x1y1z1in the diagram. The translation of the end frame, x2y2z2, relative to the ground frame, x1y1z1, is represented by the vector, r , resolved into its three components in the x1y1z1 frame.  The rotation of x2y2z2, relative to x1y1z1, can be represented by three Euler angles, which represent three subsequent rotations from the ground frame to the component frame, or by the rotation matrix R&conjugate0; ( r&conjugate0;1=  R&conjugate0;r&conjugate0;2 ).

Connections

Name

Description

frameb

Outboard frame

Parameters

Symbol

Default

Units

Description

Modelica ID

r&conjugate0;XYZ

000

m

The x,y,z offset of the outboard frame with respect to ground.

InitPos

TypeR

Euler Angles

-

Indicates whether the rotation matrix, R&conjugate0;, or the rotation sequence, θ&conjugate0;ζ,η,ξ, is used to express the orientation of the outboard frame with respect to ground.

RSelect

R

100010001

-

Rotation matrix that transforms a vector, expressed in the local frame to the inertial frame.

RMat

Typeθ

123

-

Indicates the sequence of subsequent rotations describing the orientation of the outboard frame with respect to ground.  For example, 1,2,3 refers to sequential rotations about the x, then y, and then the z axis (123 - Euler angles).

RotType

θ&conjugate0;ζ,η,ξ

000

rad

Rotations about the axes selected in Typeθ.

InitAng

See Also

Bodies and Frames

Multibody Overview