Cylindrical rigid body
The Cylinder component models a homogeneous cylindrical rigid body along a given axis with a predefined density. Based on the properties, i.e., axial unit vector, length, radius, and density, the center of mass, total mass, and moments of inertia are calculated for this rigid body.
Coordinate on one end of the cylinder axis
Coordinate on the other end of the cylinder axis
An array of additional frames on the cylinder axis
Axial unit vector
Cylinder inner radius
Select a predefined material density
Cylinder user-defined material density
Use additional frames
True means additional frames can be added
Each value in this array defines a frame on the cylinder axis w.r.t. frame_a
True means the cylinder geometry is visible in the 3-D playback
True means the geometry is transparent in the 3-D playback
Cylinder color in the 3-D playback
The two end frames of the cylinder have the same orientation. The translation vectors L e__axis and L2 e__axis w.r.t. frame_a define the frame_b and the center of mass frame, respectively.
Cylinder mass is calculated as
m=ρ π⋅R2−R__i2 L
where the cylinder 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 1: Different options for the "Select density" property
Assuming the default direction of 1,0,0 for the cylinder axis, the moments of inertia expressed from the center of mass frame are
The right-hand side of these equations will interchange if another axial unit vector is specified.
Swinging T-Shaped Object
Figure 2 shows the layout of a MapleSim model that uses two Cylinder components to simulate a freely swinging T-shaped object. Note how the frame_b of the vertical cylinder (axis = [0,1,0]) is connected to the frame_c of the horizontal cylinder (axis=[1,0,0]) to form the T-shaped object. For the horizontal cylinder, frame_c is located halfway L__add=L2 between frame_a and frame_b. A snapshot of the 3-D playback is shown in Figure 3.
Figure 2: Model layout
Figure 3: 3-D playback snapshot
In the following example, four Cylinder components are connected with revolute and prismatic joints, as shown in Figure 5, to model a slider-crank mechanism. Using Cylinder components facilitates the modeling by automatically calculating mass and moments of inertia and also results in realistic visualization in the 3-D playback window, as shown in Figure 6.
Figure 5: Model layout
Figure 6: 3-D playback snapshot
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