model joint_Revolute Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation2(animation = false, r = {0, 1, 0}) annotation( Placement(visible = true, transformation(origin = {-54, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Parts.BodyBox bodyBox5(r = {0.5, 0, 0}, r_0(start = {1, 0, 0})) annotation( Placement(visible = true, transformation(origin = {10, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Parts.BodyBox bodyBox2(r = {0.5, 0, 0}) annotation( Placement(visible = true, transformation(origin = {84, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); inner Modelica.Mechanics.MultiBody.World world1(animateGround = true) annotation( Placement(visible = true, transformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Joints.Revolute revolute2(phi(displayUnit = "rad", fixed = true), w(fixed = true)) annotation( Placement(visible = true, transformation(origin = {48, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation1(animation = false, r = {0, 0, 0}) annotation( Placement(visible = true, transformation(origin = {-52, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Joints.Revolute revolute(phi(displayUnit = "rad", fixed = true), w(fixed = true)) annotation( Placement(visible = true, transformation(origin = {50, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Parts.BodyBox bodyBox(r = {0.5, 0, 0}, r_0(start = {1, 0, 0})) annotation( Placement(visible = true, transformation(origin = {12, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Parts.BodyBox bodyBox1(r = {0.5, 0, 0}) annotation( Placement(visible = true, transformation(origin = {84, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Parts.BodyBox bodyBox4(r = {0.5, 0, 0}) annotation( Placement(visible = true, transformation(origin = {82, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Parts.BodyBox bodyBox3(r = {0.5, 0, 0}, r_0(start = {1, 0, 0})) annotation( Placement(visible = true, transformation(origin = {12, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation(animation = false, r = {0, -1, 0}) annotation( Placement(visible = true, transformation(origin = {-52, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); inner Modelica.Mechanics.MultiBody.World world(animateGround = true) annotation( Placement(visible = true, transformation(origin = {-80, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); inner Modelica.Mechanics.MultiBody.World world2(animateGround = true) annotation( Placement(visible = true, transformation(origin = {-82, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Joints.Revolute revolute1(phi(displayUnit = "rad", fixed = true), w(fixed = true)) annotation( Placement(visible = true, transformation(origin = {50, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Joints.Revolute revolute3(n = {1, 0, 0}, phi(displayUnit = "rad")) annotation( Placement(visible = true, transformation(origin = {-22, -2}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Joints.Revolute revolute4(n = {0, 1, 0}, phi(displayUnit = "rad")) annotation( Placement(visible = true, transformation(origin = {-22, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Mechanics.MultiBody.Joints.Revolute revolute5(n = {0, 0, 1}, phi(displayUnit = "rad")) annotation( Placement(visible = true, transformation(origin = {-22, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); equation connect(revolute.frame_b, bodyBox2.frame_a) annotation( Line(points = {{60, 0}, {74, 0}})); connect(bodyBox5.frame_b, revolute2.frame_a) annotation( Line(points = {{20, 60}, {38, 60}})); connect(world1.frame_b, fixedTranslation1.frame_a) annotation( Line(points = {{-70, 0}, {-62, 0}})); connect(world2.frame_b, fixedTranslation2.frame_a) annotation( Line(points = {{-72, 60}, {-64, 60}})); connect(revolute1.frame_b, bodyBox1.frame_a) annotation( Line(points = {{60, -58}, {74, -58}})); connect(bodyBox.frame_b, revolute1.frame_a) annotation( Line(points = {{22, -58}, {40, -58}})); connect(bodyBox3.frame_b, revolute.frame_a) annotation( Line(points = {{22, 0}, {40, 0}})); connect(world.frame_b, fixedTranslation.frame_a) annotation( Line(points = {{-70, -58}, {-62, -58}})); connect(revolute2.frame_b, bodyBox4.frame_a) annotation( Line(points = {{58, 60}, {72, 60}})); connect(fixedTranslation1.frame_b, revolute3.frame_a) annotation( Line(points = {{-42, 0}, {-32, 0}, {-32, -2}})); connect(revolute3.frame_b, bodyBox3.frame_a) annotation( Line(points = {{-12, -2}, {2, -2}, {2, 0}}, color = {95, 95, 95})); connect(fixedTranslation.frame_b, revolute4.frame_a) annotation( Line(points = {{-42, -58}, {-32, -58}}, color = {95, 95, 95})); connect(revolute4.frame_b, bodyBox.frame_a) annotation( Line(points = {{-12, -58}, {2, -58}}, color = {95, 95, 95})); connect(fixedTranslation2.frame_b, revolute5.frame_a) annotation( Line(points = {{-44, 60}, {-32, 60}})); connect(revolute5.frame_b, bodyBox5.frame_a) annotation( Line(points = {{-12, 60}, {0, 60}}, color = {95, 95, 95})); annotation( uses(Modelica(version = "4.0.0")), Diagram(graphics = {Text(origin = {-27, 15}, extent = {{-15, 5}, {15, -5}}, textString = "回転軸X"), Text(origin = {-27, 77}, extent = {{-15, 5}, {15, -5}}, textString = "回転軸Z"), Text(origin = {-25, -41}, extent = {{-15, 5}, {15, -5}}, textString = "回転軸Y")})); end joint_Revolute;