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Icon: solid fill pattern of ellipses representing universal joint
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@tobolar @beutlich
tobolar authored and beutlich committed Jan 19, 2021
1 parent 13c7d97 commit a93840e
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Showing 6 changed files with 87 additions and 69 deletions.
43 changes: 22 additions & 21 deletions Modelica/Mechanics/MultiBody/Joints/Assemblies/JointUPS.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -411,9 +411,9 @@ component).
extent={{-100,-40},{-20,40}},
startAngle=90,
endAngle=270,
lineColor={0,0,0},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Sphere,
fillPattern=FillPattern.Solid,
closure=EllipseClosure.Radial),
Ellipse(
extent={{-90,-30},{-30,30}},
Expand All @@ -426,17 +426,24 @@ component).
extent={{-90,-30},{-30,30}},
startAngle=90,
endAngle=270,
lineColor={0,0,0},
lineColor={64,64,64},
closure=EllipseClosure.None),
Line(
points={{-60,40},{-60,-40}},
thickness=0.5),
Ellipse(
extent={{-90,-20},{-30,20}},
fillPattern=FillPattern.Sphere,
fillPattern=FillPattern.Solid,
fillColor={192,192,192},
startAngle=-124,
endAngle=56),
endAngle=56,
lineColor={64,64,64}),
Rectangle(
extent={{-34,-14},{-6,14}},
pattern=LinePattern.None,
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Ellipse(
extent={{-80,-10},{-40,10}},
lineColor={255,255,255},
Expand All @@ -446,22 +453,18 @@ component).
endAngle=360),
Ellipse(
extent={{-80,-10},{-40,10}},
lineColor={95,95,95},
lineColor={64,64,64},
fillColor={255,255,255},
fillPattern=FillPattern.Solid,
startAngle=-114,
endAngle=65,
startAngle=-113,
endAngle=63,
closure=EllipseClosure.None),
Line(
points={{-42,18},{-78,-18}},
thickness=0.5),
Line(
points={{-60,40},{-60,-10}},
thickness=0.5),
Text(
extent={{-140,-45},{140,-70}},
textColor={0,0,255},
textString="%name"),
Text(
extent={{-98,84},{-60,65}},
textColor={128,128,128},
Expand All @@ -475,13 +478,7 @@ component).
textColor={128,128,128},
textString="ib"),
Rectangle(
extent={{-35,-13},{-6,14}},
pattern=LinePattern.None,
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Rectangle(
extent={{-35,14},{-6,18}},
extent={{-34,14},{-6,18}},
pattern=LinePattern.None,
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Expand All @@ -496,7 +493,7 @@ component).
pattern=LinePattern.None,
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Line(points={{-6,-13},{-6,18}}),
Line(points={{-6,-14},{-6,18}}),
Line(
points={{60,0},{60,90},{80,90},{80,97}},
color={95,95,95},
Expand All @@ -514,5 +511,9 @@ component).
Line(
points={{-40,90},{-40,90},{-40,95}},
color={95,95,95},
thickness=0.5)}));
thickness=0.5),
Text(
extent={{-140,-45},{140,-70}},
textColor={0,0,255},
textString="%name")}));
end JointUPS;
23 changes: 12 additions & 11 deletions Modelica/Mechanics/MultiBody/Joints/Assemblies/JointUSP.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -398,9 +398,9 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
extent={{-100,-30},{-40,30}},
startAngle=90,
endAngle=270,
lineColor={0,0,0},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Sphere,
fillPattern=FillPattern.Solid,
closure=EllipseClosure.Radial),
Ellipse(
extent={{-94,-24},{-46,24}},
Expand All @@ -413,7 +413,7 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
extent={{-94,-24},{-46,24}},
startAngle=90,
endAngle=270,
lineColor={0,0,0},
lineColor={64,64,64},
closure=EllipseClosure.None),
Rectangle(
extent={{-50,5},{-10,-5}},
Expand All @@ -428,10 +428,11 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
thickness=0.5),
Ellipse(
extent={{-92,-14},{-48,14}},
fillPattern=FillPattern.Sphere,
fillPattern=FillPattern.Solid,
fillColor={192,192,192},
startAngle=-123,
endAngle=57),
endAngle=57,
lineColor={64,64,64}),
Line(
points={{-50,0},{-50,80},{-80,80},{-80,100}},
color={95,95,95},
Expand Down Expand Up @@ -482,10 +483,6 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
extent={{40,110},{77,90}},
textColor={128,128,128},
textString="ib"),
Text(
extent={{-140,-45},{140,-70}},
textColor={0,0,255},
textString="%name"),
Ellipse(
extent={{-86,-8},{-54,8}},
lineColor={255,255,255},
Expand All @@ -495,7 +492,7 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
endAngle=360),
Ellipse(
extent={{-86,-8},{-54,8}},
lineColor={95,95,95},
lineColor={64,64,64},
fillColor={255,255,255},
fillPattern=FillPattern.Solid,
startAngle=-114,
Expand All @@ -506,7 +503,11 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
thickness=0.5),
Line(
points={{-56,14},{-84,-14}},
thickness=0.5)}),
thickness=0.5),
Text(
extent={{-140,-45},{140,-70}},
textColor={0,0,255},
textString="%name")}),
Diagram(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}},
Expand Down
13 changes: 7 additions & 6 deletions Modelica/Mechanics/MultiBody/Joints/Assemblies/JointUSR.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -397,9 +397,9 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
extent={{-100,-30},{-40,30}},
startAngle=90,
endAngle=270,
lineColor={0,0,0},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Sphere,
fillPattern=FillPattern.Solid,
closure=EllipseClosure.Radial),
Ellipse(
extent={{-94,-24},{-46,24}},
Expand All @@ -412,7 +412,7 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
extent={{-94,-24},{-46,24}},
startAngle=90,
endAngle=270,
lineColor={0,0,0},
lineColor={64,64,64},
closure=EllipseClosure.None),
Rectangle(
extent={{-50,5},{-10,-5}},
Expand Down Expand Up @@ -453,10 +453,11 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
thickness=0.5),
Ellipse(
extent={{-92,-14},{-48,14}},
fillPattern=FillPattern.Sphere,
fillPattern=FillPattern.Solid,
fillColor={192,192,192},
startAngle=-123,
endAngle=57),
endAngle=57,
lineColor={64,64,64}),
Ellipse(
extent={{-86,-8},{-54,8}},
lineColor={255,255,255},
Expand All @@ -473,7 +474,7 @@ the origin of frame_a to the middle of rod 1, this might be defined as:
thickness=0.5),
Ellipse(
extent={{-86,-8},{-54,8}},
lineColor={95,95,95},
lineColor={64,64,64},
fillColor={255,255,255},
fillPattern=FillPattern.Solid,
startAngle=-114,
Expand Down
41 changes: 24 additions & 17 deletions Modelica/Mechanics/MultiBody/Joints/Constraints/Universal.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -91,12 +91,13 @@ equation
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Rectangle(
extent={{-100,11},{100,-10}},
extent={{-100,10},{100,-10}},
fillPattern=FillPattern.HorizontalCylinder,
fillColor={235,235,235}),
fillColor={192,192,192},
lineColor={0,0,0}),
Ellipse(
extent={{-80,-80},{80,80}},
lineColor={160,160,164},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
startAngle=90,
Expand All @@ -114,13 +115,13 @@ equation
thickness=0.5),
Ellipse(
extent={{-60,-60},{60,60}},
lineColor={160,160,164},
lineColor={64,64,64},
startAngle=90,
endAngle=270,
closure=EllipseClosure.None),
Ellipse(
extent={{-70,-40},{70,40}},
lineColor={160,160,164},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
startAngle=-120,
Expand All @@ -130,12 +131,6 @@ equation
lineColor={255,255,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Line(
points={{40,40},{-40,-40}},
thickness=0.5),
Line(
points={{0,72},{0,-20}},
thickness=0.5),
Text(
extent={{-100,-70},{100,-100}},
textColor={95,95,95},
Expand Down Expand Up @@ -167,18 +162,30 @@ equation
textString="lock: y, z",
visible=not x_locked and y_locked and z_locked),
Text(
extent={{-100,-76},{100,-106}},
extent={{-100,-80},{100,-110}},
textColor={95,95,95},
textString="lock: x, y, z",
visible=x_locked and y_locked and z_locked),
Text(
extent={{-150,120},{150,80}},
textColor={0,0,255},
textString="%name"),
Ellipse(
extent={{-50,-22},{50,24}},
lineColor={64,64,64},
startAngle=-113,
endAngle=63,
closure=EllipseClosure.None),
Line(
points={{40,40},{-40,-40}},
thickness=0.5),
Line(
points={{0,72},{0,-20}},
thickness=0.5),
Line(
points={{-81,-66},{-23,25},{40,-39},{97,71}},
color={255,0,0},
thickness=0.5)}),
thickness=0.5),
Text(
extent={{-150,120},{150,80}},
textColor={0,0,255},
textString="%name")}),
Documentation(info="<html>
<p>This model does not use explicit variables e.g. state variables in order to describe the relative motion of frame_b with respect to frame_a, but defines kinematic constraints between the frame_a and frame_b. The forces and torques at both frames are then evaluated in such a way that the constraints are satisfied. Sometimes this type of formulation is also called an implicit joint in literature.</p>
<p>As a consequence of the formulation the relative kinematics between frame_a and frame_b cannot be initialized.</p>
Expand Down
19 changes: 13 additions & 6 deletions Modelica/Mechanics/MultiBody/Joints/Universal.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -116,12 +116,13 @@ phi_b.start = 45<sup>o</sup>).
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Rectangle(
extent={{-100,11},{100,-10}},
extent={{-100,10},{100,-10}},
fillPattern=FillPattern.HorizontalCylinder,
fillColor={235,235,235}),
fillColor={192,192,192},
lineColor={0,0,0}),
Ellipse(
extent={{-80,-80},{80,80}},
lineColor={160,160,164},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
startAngle=90,
Expand All @@ -139,22 +140,28 @@ phi_b.start = 45<sup>o</sup>).
thickness=0.5),
Ellipse(
extent={{-60,-60},{60,60}},
lineColor={160,160,164},
lineColor={64,64,64},
startAngle=90,
endAngle=270,
closure=EllipseClosure.None),
Ellipse(
extent={{-70,-40},{70,40}},
lineColor={160,160,164},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
startAngle=-120,
endAngle=60),
Ellipse(
extent={{-48,-22},{52,24}},
extent={{-50,-22},{50,24}},
lineColor={255,255,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Ellipse(
extent={{-50,-22},{50,24}},
lineColor={64,64,64},
startAngle=-113,
endAngle=63,
closure=EllipseClosure.None),
Line(
points={{40,40},{-40,-40}},
thickness=0.5),
Expand Down
17 changes: 9 additions & 8 deletions Modelica/Mechanics/MultiBody/Joints/UniversalSpherical.mo
View file
Original file line number Diff line number Diff line change
Expand Up @@ -434,9 +434,9 @@ the origin of frame_a to the middle of the rod, this might be defined as:
extent={{-100,-40},{-20,40}},
startAngle=90,
endAngle=270,
lineColor={0,0,0},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Sphere,
fillPattern=FillPattern.Solid,
closure=EllipseClosure.Radial),
Ellipse(
extent={{-90,-30},{-30,30}},
Expand All @@ -449,17 +449,18 @@ the origin of frame_a to the middle of the rod, this might be defined as:
extent={{-90,-30},{-30,30}},
startAngle=90,
endAngle=270,
lineColor={0,0,0},
lineColor={64,64,64},
closure=EllipseClosure.None),
Line(
points={{-60,40},{-60,-40}},
thickness=0.5),
Ellipse(
extent={{-90,-20},{-30,20}},
fillPattern=FillPattern.Sphere,
fillPattern=FillPattern.Solid,
fillColor={192,192,192},
startAngle=-124,
endAngle=56),
endAngle=56,
lineColor={64,64,64}),
Ellipse(
extent={{-80,-10},{-40,10}},
lineColor={255,255,255},
Expand All @@ -481,11 +482,11 @@ the origin of frame_a to the middle of the rod, this might be defined as:
fillColor={192,192,192}),
Ellipse(
extent={{-80,-10},{-40,10}},
lineColor={95,95,95},
lineColor={64,64,64},
fillColor={255,255,255},
fillPattern=FillPattern.Solid,
startAngle=-114,
endAngle=65,
startAngle=-113,
endAngle=63,
closure=EllipseClosure.None),
Line(
points={{-42,18},{-78,-18}},
Expand Down

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