Symbol

Default

Units

Description

Modelica ID

Use multiple sections

When selected, the parameter $L$ becomes a vector (list) of shaft section lengths from frame_a to frame_b

useMultiSection

$L$

1

or

 $\left[0.5\, 0.5\right]$

$m$

Beam length. This is either a single value or a vector of values, with each vector element representing the length of a beam section. The vector option is available when you select the Use multiple sections option.

Note: When undeformed, the beam is straight and its neutral axis is aligned with the x axis of the ${\mathrm{frame}}_a$.

L_s

or

L_v

Use Predefined Shape

When selected the cross-section area properties are defined using a predefined shape (See section description for the available options)

useShape

section

CircleHexagonI-beamRectangle

Select a predefined section. Select Use Predefined Shape to enable this option.

Available options: Circle, Rectangle, Hexagon, and I-beam.

sectionType

Symbol

Default

Units

Description

Modelica ID

Use single material

Only available when you select Use multiple sections. When selected, material parameters are single values (that is, the beam is uniform). When cleared, material parameters are vectors (lists), and each element in the vector is the material property value for that section of the beam.

useSameMaterial

$\mathrm{\ρ}$

$3000$

or

$\left[3000\,3000\right]$

$\frac{\mathrm{kg}}{m^3}$

Beam density. This is either a single value or a vector of values. The vector is available when you select Use multiple sections and clear Use single material.  The vector must have the same number of elements as $L$.

rho_s

or

rho_v

$E$

$7\cdot {10}^{10}$

or

$\left[7\cdot {10}^{10}\,7\cdot {10}^{10}\right]$

$\mathrm{Pa}$

Young's modulus of elasticity. This is either a single value or a vector of values. The vector is available when you select Use multiple sections and clear Use single material.  The vector must have the same number of elements as $L$.

E_s

or

E_v

$E^{\*}$/$E$

$0.01$

or

$\left[0.01\,0.01\right]$

$s$

Bending/Elongation damping as a proportion of Young's modulus of elasticity. This is either a single value or a vector of values. The vector is available when you select Use multiple sections and clear Use single material.  The vector must have the same number of elements as $L$.

cE_s

or

cE_v

$G$

$2.7\cdot {10}^{10}$

or

$\left[2.7\cdot {10}^{10}\,2.7\cdot {10}^{10}\right]$

$\frac{N}{m^2}$

Shear modulus of elasticity. This is either a single value or a vector of values. The vector is available when you select Use multiple sections and clear Use single material.  The vector must have the same number of elements as $L$.

G_s

or

G_v

$G^{\*}$/$G$

$0.01$

or

$\left[0.01\,0.01\right]$

$s$

Torsional damping as a proportion of shear modulus of elasticity. This is either a single value or a vector of values. The vector is available when you select Use multiple sections and clear Use single material.  The vector must have the same number of elements as $L$.

cG_s

or

cG_v

Symbol

Default

Units

Description

Modelica ID

${\mathrm{EC}}_x$

$0$

Number of elastic coordinates for axial deformation along the x axis

Axial

${\mathrm{EC}}_y$

$1$

Number of elastic coordinates for lateral deformation along the y axis

LateralY

${\mathrm{EC}}_z$

1

Number of elastic coordinates for lateral deformation along the z axis

LateralZ

${\mathrm{EC}}_{\mathrm{\φ}}$

$0$

Number of elastic coordinates for torsional deformation about the x axis

Torsional

Symbol

Default

Units

Description

Modelica ID

Straight

Strictly Enforce

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces a straight beam at the start of the simulation

ElasticICs

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

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 inboard frame at the start of the simulation, expressed along the x-, y-, and z-axis of the inboard frame respectively

InitPos

${\mathrm{Type}}_v$

$\mathrm{Inboard}$

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

VelType

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

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

$\frac{m}{s}$

Initial velocity of the inboard frame frame at the start of the simulation, 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

${\mathrm{Type}}_{\mathrm{\θ}}$

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

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

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

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

$\mathrm{rad}$

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

InitAng

${\mathrm{Type}}_{\mathrm{\ω}}$

$\mathrm{Euler}$

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

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

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

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

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

InitAngVel

$\mathrm{Shape}$

$\mathrm{Taylor}$

Polynomial shape function

ShapeFunc

${\mathrm{Trunc}}_I$

1

Truncation order of inertial terms

ITrunc

${\mathrm{Trunc}}_{\mathrm{EC}}$

1

Truncation order of elastic coordinates

ETrunc

Name

Default

Units

Description

Modelica ID

Show visualization

$\mathrm{false}$

True means geometry is visible in playback

showVisualization

$D_{\mathrm{vis}}$

$0.1$

$m$

Diameter of cylindrical visualization (segment cross section changes are ignored)

Dvis

$n$

$3$

Maximum number of pieces (per segment)

np

Color

Color of the sphere

Color

Transparent

$\mathrm{false}$

Radius

Transparent