This library is deprecated since it has been incorporated in a slightly improved form into the Modelica Standard Library, version 2.1.
The MultiBody library is a free Modelica package providing 3-dimensional mechanical components to model in a convenient way mechanical systems, such as robots, mechanisms, vehicles. This package contains a tutorial of the MultiBody library.
Download MultiBody v1.0.1 (2004-07-07)
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This version fixes only some minor bugs:
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Bug in MultiBody.Sensors.RelativeSensor fixed: When frame resolve was connected and
get_v_rel=trueorget_a_rel=true, an error was in the code -
Bug in MultiBodys.Sensors.Power fixed: A "defineBranch(...)" statement was missing. In certain cases, it was then not possible to generate code
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Wrong icon of MultiBody and of MultiBody.Interfaces package corrected.
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This version is not backward compatible to version 0.99. Models generated with previous MultiBody versions are automatically converted to the new release.The incompatible changes are due to improving the efficiency of the library. This required to change function interfaces in MultiBody.Frames:
angularVelocity1,angularVelocity2,planarRotation,axisRotation,axesRotations,from_T,from_T_inv,from_Q. Furthermore,MultiBody.Frames.Orientationhas changed. As a consequence, all code that accesses objects of this type directly is no longer valid. -
This version is not backward compatible to the previous MultiBody versions, since the initialization has changed. Parameter "startValuesFixed" is no longer present and is replaced by parameter "initType" (see below). Models generated with previous MultiBody versions are automatically converted to the new release.
This Modelica package is free software and the use is completely at your own risk; it can be redistributed and/or modified under the terms of the Modelica License 2.
This library is deprecated and therefore no longer actively developed. An improved version was incorporated into the Modelica Standard Library and is maintained there.