Name

Description

${\mathrm{frame}}_a$

Rigid body center of mass frame

$\mathrm{vMass}$

Variable point mass port

Symbol

Default

Units

Description

Modelica ID

Variable point mass

false

If true, the rigid body is treated as a variable point mass (no rotational inertia)

useVariableMass

m

m

$\mathrm{kg}$

The mass of the rigid body

Mass

$\stackrel{}{\left[I\right]}$

$\left[\begin{array}{ccc}{10}^{-6}& 0& 0\\ 0& {10}^{-6}& 0\\ 0& 0& {10}^{-6}\end{array}\right]$

$\mathrm{kg}\cdot m^2$

The inertia matrix for the rigid body, expressed in the local center of mass frame

Inertia

${\mathrm{Type}}_v$

$\mathrm{Inboard}$

Indicates whether the initial velocity is expressed in the inboard or outboard frame.

VelType

${\mathrm{Type}}_{\mathrm{\θ}}$

$\left[\begin{array}{ccc}1& 2& 3\end{array}\right]$

Indicates the sequence of body-fixed rotations used to describe the initial orientation of the center of mass frame. For example, $\left[1\,2\,3\right]$ refers to sequential rotations about the x, then y, and then z axis (123 - Euler angles)

RotType

${\mathrm{Type}}_{\mathrm{\ω}}$

$\mathrm{Euler}$

Indicates whether the initial angular velocity is expressed in the inboard or outboard frame.  If Euler is selected, the initial angular velocities are assumed to be the direct derivatives of the Euler angles.

AngVelType

${\mathrm{IC}}_{r\,v}$

Ignore

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the translational initial conditions

MechTranTree

${\stackrel{\&conjugate0;}{r}}_0$

$\left[\begin{array}{ccc}0& 0& 0\end{array}\right]$

$m$

Initial displacement of the center of mass frame at the start of the simulation. These values are expressed along the x-, y- and z-axis of the inboard frame respectively

InitPos

${\stackrel{\&conjugate0;}{v}}_0$

$\left[\begin{array}{ccc}0& 0& 0\end{array}\right]$

$\frac{m}{s}$

Initial velocity of the center of mass frame at the start of the simulation. These values are expressed along the x-, y- and z-axis of the inboard frame respectively

InitVel

${\mathrm{IC}}_{\mathrm{\θ}\,\mathrm{\ω}}$

Ignore

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the rotational initial conditions

MechRotTree

${\stackrel{\&conjugate0;}{\theta }}_0$

$\left[\begin{array}{ccc}0& 0& 0\end{array}\right]$

$\mathrm{rad}$

Initial rotation of the center of mass frame at the start of the simulation, based on the ${\mathrm{Type}}_{\mathrm{\theta }}$ parameter values

InitAng

${\stackrel{\&conjugate0;}{\omega }}_0$

$\left[\begin{array}{ccc}0& 0& 0\end{array}\right]$

$\frac{\mathrm{rad}}{s}$

Initial angular velocity of the center of mass frame at the start of the simulation, based on the ${\mathrm{Type}}_{\mathrm{\ω}}$ parameter values

InitAngVel

Use quaternion internally

false

Indicates whether the 3-D rotations will be represented as a four parameter quaternion or as three Euler angles.  Regardless of the setting, the initial conditions are specified with Euler angles.

useQuats