Wheel definition

@WHEEL_DEFINITION {
@WHEEL_NAME {WheelName}
@EDGE_NAME {EdgeName}
@RADIUS {ρ}
@CONTACT_MODEL_NAME {CntModlName}
@FRICTION_MODEL_NAME {FctModlName}
@SHIMMY_MODEL_NAME {ShmModlName}
@COMMENTS {CommentText}
}
}

NOTES

  1. The wheel element allows the modeling of a wheel that can roll and/or slide on a plane. The wheel element is associated with an edge, EdgeName. Vertices Vertex0Name and Vertex1Name are associated with this edge. Rigid body masses Rbm0Name and Rbm1Name are associated with vertices Vertex0Name and Vertex1Name, respectively. Rigid body mass Rbm0Name represents the plane on which the wheel is rolling; the axis e3 of the triad associated with this rigid body mass is perpendicular to this plane. Rigid body mass Rbm1Name represents the wheel; the axis e3 of the triad associated with this rigid body mass is perpendicular to the plane of the wheel. This body would also carry the mass of the wheel of radius ρ. Find more information about: the representation of multibody systems, and the formulation of constraints in multibody systems.
  2. A contact model CntModlName, specifies the parameters associated with the computation of the normal contact force between the wheel and the plane.
  3. Optionally, a friction model, FctModlName, describes the parameters associated with the evaluation of the tangential forces between the wheel and plane.
  4. In addition to the radial deformation, a tire model based on Moreland's theory can also be included by specifying a shimmy model ShmModlName.
  5. It is possible to attach comments to the definition of the object; these comments have no effect on its definition.