componentLibrary/multibody/machineElements/IBeam - MapleSim Help
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IBeam

Rigid I-beam with visualization

 

Description

Connections

Parameters

Equations

Modelica Standard Library

Description

The IBeam component models a homogeneous rigid body along a given axial vector with an I cross section. Based on the properties, i.e., axial unit vector, length, height, width, and density, the center of mass, mass, and moments of inertia are calculated for this rigid body.

Connections

Name

Description

Modelica ID

framea

inboard frame, on end of I-Beam axis

frame_a

frameb

outboard frame, on the other end of the I-Beam axis

frame_b

framec

An array additional frames on the I-Beam axis

frame_c

Parameters

Initial Conditions (Frame_A)

Name

Default

Units

Description

Modelica ID

Use initial conditions

false

 

 

useICs

ICr,v

[1]

 

Indicates whether the translational initial conditions are ignored, treated as a guess (may not be enforced), or strictly enforced

MechTranTree

r0

0,0,0

m

Initial displacement of frame_a (center of mass) at the start of the simulation expressed in the inertial frame

InitPos

Velocity Frame

[2]

 

Indicates whether the initial velocity is expressed in frame_a (body) or inertial frame

VelType

v0

0,0,0

ms

Initial velocity of frame_a (center of mass) at the start of the simulation expressed in the frame selected in Velocity Frame

InitVel

ICθ,ω

[1]

 

Indicates whether the rotational initial conditions are ignored, treated as a guess (may not be enforced), or strictly enforced

MechRotTree

Use quaternion internally

false

 

 

useQuats

Euler Sequence

1,2,3

 

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

RotType

θ0

0,0,0

rad

Initial rotation of frame_a (center of mass) at the start of the simulation (based on Euler Sequence selection)

InitAng

Angular Velocity Frame

[2]

 

Indicates whether the initial angular velocity is expressed in frame_a (body) or the inertial frame. If Euler is chosen, the initial angular velocities are assumed to be the direct derivatives of the Euler angles.

AngVelType

Angular Velocity Frame

[2]

 

Indicates whether the initial angular velocity is expressed in frame_a (body) or the inertial frame.

AngVelTypeQuat

ω0

0,0,0

rads

Initial angular velocity of frame_a (center of mass) at the start of the simulation expressed in the frame selected in Angular Velocity Frame

InitAngVel

[1] Maplesoft.Multibody.Selectors.ICHandling.Ignore

[2] Maplesoft.Multibody.Selectors.AngularVelocityFrame2.Outboard

Settings

Name

Default

Units

Description

Modelica ID

eaxis

[1]

 

Axial unit vector. If axis is local x, y, or z then width in local y, z, or x, respectively.

e_axis

Rotate 90 degrees

false

 

When checked (true), the cross-section is rotated 90 degrees

rotate90

L

1

m

Length of the box

L

b

0.1

m

Width

b

h

0.2

m

Height

h

t1

0.005

m

Flange thickness

t1

t2

0.004

m

Web thickness

t2

Select density

[2]

 

Select a predefined material density

selectDensity

ρ

1000

kgm3

Density

customDensity

Use additional frames

false

 

 

addFrames

Ladd

L2

m

Each value defines a frame on the box w.r.t. frame_a along the axis

L_add

[1] Maplesoft.Multibody.Selectors.PrimaryUnitVector.posX

[2] Maplesoft.Multibody.MachineElements.Material.Steel

Visualization

Name

Default

Description

Modelica ID

Show visualization

true

True means geometry is visible in playback

visualization

Transparent

false

True means geometry is transparent in playback

transparent

Color

Blue

Color of the component

color

Equations

I-Beam length (L) is always along the specified axial unit vector (e_axis). Unit vectors for width (b) and height (h) are defined according to Figure 1. The sequence depends on whether or not the Rotate 90 degrees option is checked (true).

Figure 1: Order of L, b, and h follows above diagrams. Rotate 90 degrees option is unchecked (false) for the left sequence and checked (true) for the right one.

Note that the rotate 90 degrees option just rotates the I-Beam cross section. Regardless of this option, the orientation of the end frames and additional frames remains the same. Translation vectors of Leaxis and L2eaxis  w.r.t. frame_a defines the frame_b and the center of mass frame respectively. Moreover, each additional frame is defined by translating from frame_a along the vector Laddieaxis. This is illustrated in the following figure.

I-Beam mass is calculated as

m=ρL2bt1h2t1t2

where the I-Beam material density, ρ, can be defined using the Select density parameter. This parameter lets the user either enter a value or select among predefined material densities.

Figure 3: Different options for the Select density parameter

Modelica Standard Library

The component described in this topic is from the Modelica Standard Library. To view the original documentation, which includes author and copyright information, click here.

See Also

Machine Elements

Multibody

 


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