diff --git a/PlanarMechanics/Examples/ControlledCraneCrab.mo b/PlanarMechanics/Examples/ControlledCraneCrab.mo
index f6313c15..da735073 100644
--- a/PlanarMechanics/Examples/ControlledCraneCrab.mo
+++ b/PlanarMechanics/Examples/ControlledCraneCrab.mo
@@ -69,7 +69,7 @@ equation
points={{-20,30},{0,30}},
color={95,95,95},
thickness=0.5));
- connect(prismatic.flange_a, force.flange) annotation (Line(
+ connect(prismatic.axis, force.flange) annotation (Line(
points={{-30,40},{-30,40},{-30,70},{-20,70}},
color={0,127,0}));
connect(prismatic.frame_b, revolute.frame_a) annotation (Line(
@@ -80,7 +80,7 @@ equation
points={{-10,-10},{-10,-20}},
color={95,95,95},
thickness=0.5));
- connect(revolute.flange_a, angleSensor.flange) annotation (Line(
+ connect(revolute.axis, angleSensor.flange) annotation (Line(
points={{0,0},{0,0},{20,0}}));
annotation (experiment(StopTime=3),
Documentation(revisions="
diff --git a/PlanarMechanics/Examples/CraneCrab.mo b/PlanarMechanics/Examples/CraneCrab.mo
index 6262ed9b..17f03cd2 100644
--- a/PlanarMechanics/Examples/CraneCrab.mo
+++ b/PlanarMechanics/Examples/CraneCrab.mo
@@ -58,9 +58,8 @@ equation
points={{-20,30},{0,30}},
color={95,95,95},
thickness=0.5));
- connect(damper1D.flange_b, prismatic.flange_a)
- annotation (Line(points={{-20,60},{-20,40},{-30,40}},
- color={0,127,0}));
+ connect(damper1D.flange_b, prismatic.axis)
+ annotation (Line(points={{-20,60},{-20,40},{-30,40}}, color={0,127,0}));
connect(damper1D.flange_a, prismatic.support)
annotation (Line(points={{-40,60},{-40,40},{-36,40}}, color={0,127,0}));
annotation (experiment(StopTime=10),
diff --git a/PlanarMechanics/Examples/CraneCrabTo3D.mo b/PlanarMechanics/Examples/CraneCrabTo3D.mo
index d72ad8a2..3575f506 100644
--- a/PlanarMechanics/Examples/CraneCrabTo3D.mo
+++ b/PlanarMechanics/Examples/CraneCrabTo3D.mo
@@ -80,9 +80,8 @@ equation
points={{40,30},{60,30}},
color={95,95,95},
thickness=0.5));
- connect(damper1D.flange_b, prismatic.flange_a)
- annotation (Line(points={{40,60},{40,40},{30,40}},
- color={0,127,0}));
+ connect(damper1D.flange_b, prismatic.axis)
+ annotation (Line(points={{40,60},{40,40},{30,40}}, color={0,127,0}));
connect(body3D.frame_a, prismatic3D.frame_b) annotation (Line(
points={{-10,-30},{-10,-50},{-20,-50}},
color={95,95,95},
diff --git a/PlanarMechanics/Examples/InvertedCraneCrab.mo b/PlanarMechanics/Examples/InvertedCraneCrab.mo
index 04834a6c..43f40a46 100644
--- a/PlanarMechanics/Examples/InvertedCraneCrab.mo
+++ b/PlanarMechanics/Examples/InvertedCraneCrab.mo
@@ -60,15 +60,12 @@ equation
color={95,95,95},
thickness=0.5));
connect(ramp.y, firstOrder.u) annotation (Line(
- points={{67.4,0},{64.7,0},{64.7,0},{63.2,
- 0}},
+ points={{67.4,0},{64.7,0},{64.7,0},{63.2,0}},
color={0,0,127}));
connect(firstOrder.y, inverseBlockConstraints.u2) annotation (Line(
- points={{49.4,0},{47.8,0},{47.8,0},{46.2,
- 0},{46.2,0},{43,0}},
+ points={{49.4,0},{47.8,0},{47.8,0},{46.2,0},{46.2,0},{43,0}},
color={0,0,127}));
-
- connect(revolute.flange_a, angleSensor.flange)
+ connect(revolute.axis, angleSensor.flange)
annotation (Line(points={{0,0},{0,0},{8,0}}));
connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
points={{-10,-10},{-10,-20}},
@@ -87,7 +84,7 @@ equation
points={{-20,30},{0,30}},
color={95,95,95},
thickness=0.5));
- connect(force.flange, prismatic.flange_a) annotation (Line(
+ connect(force.flange, prismatic.axis) annotation (Line(
points={{-20,70},{-30,70},{-30,40}},
color={0,127,0}));
annotation (Documentation(revisions="
diff --git a/PlanarMechanics/Examples/KinematicLoop.mo b/PlanarMechanics/Examples/KinematicLoop.mo
index ecdc5c39..983a2137 100644
--- a/PlanarMechanics/Examples/KinematicLoop.mo
+++ b/PlanarMechanics/Examples/KinematicLoop.mo
@@ -108,7 +108,7 @@ equation
points={{20,60},{-40,60}},
color={95,95,95},
thickness=0.5));
- connect(springDamper1D.flange_b, prismatic1.flange_a)
+ connect(springDamper1D.flange_b, prismatic1.axis)
annotation (Line(points={{20,90},{30,90},{30,70}}, color={0,127,0}));
connect(prismatic1.frame_b, revolute3.frame_a) annotation (Line(
points={{40,60},{80,60},{80,50}},
diff --git a/PlanarMechanics/Examples/KinematicLoop_DynamicStateSelection.mo b/PlanarMechanics/Examples/KinematicLoop_DynamicStateSelection.mo
index 53c210a7..76d96aea 100644
--- a/PlanarMechanics/Examples/KinematicLoop_DynamicStateSelection.mo
+++ b/PlanarMechanics/Examples/KinematicLoop_DynamicStateSelection.mo
@@ -103,7 +103,7 @@ equation
points={{40,60},{80,60},{80,50}},
color={95,95,95},
thickness=0.5));
- connect(springDamper1D.flange_b, prismatic1.flange_a)
+ connect(springDamper1D.flange_b, prismatic1.axis)
annotation (Line(points={{20,90},{30,90},{30,70}}, color={0,127,0}));
annotation (experiment(StopTime=6),
Documentation(revisions="
diff --git a/PlanarMechanics/GearComponents/Examples/SpurGear.mo b/PlanarMechanics/GearComponents/Examples/SpurGear.mo
index 1bb27074..14e7287b 100644
--- a/PlanarMechanics/GearComponents/Examples/SpurGear.mo
+++ b/PlanarMechanics/GearComponents/Examples/SpurGear.mo
@@ -43,18 +43,17 @@ model SpurGear "Rigid spur gear"
annotation (Placement(transformation(extent={{20,60},{40,80}})));
equation
connect(gearA_Bearing.frame_b, gearA.frame_a)
- annotation (Line(
+ annotation (Line(
points={{-40,0},{-20,0},{-20,20}},
color={95,95,95},
thickness=0.5));
- connect(constantSpeed.flange, gearA_Bearing.flange_a)
- annotation (Line(
- points={{-80,20},{-50,20},{-50,10}}));
+ connect(constantSpeed.flange, gearA_Bearing.axis)
+ annotation (Line(points={{-80,20},{-50,20},{-50,10}}));
connect(fixed_A.frame, gearA_Bearing.frame_a) annotation (Line(
points={{-70,-42},{-70,0},{-60,0}},
color={95,95,95},
thickness=0.5));
- connect(constantTorque.flange, gearB_Bearing.flange_a) annotation (Line(
+ connect(constantTorque.flange, gearB_Bearing.axis) annotation (Line(
points={{-80,48},{50,48},{50,10}}));
connect(gearwheelExternal.frame_a, gearA_Bearing.frame_b) annotation (Line(
points={{-10,0},{-40,0}},
diff --git a/PlanarMechanics/GearComponents/Examples/Utilities/RigidNoLossPlanetary.mo b/PlanarMechanics/GearComponents/Examples/Utilities/RigidNoLossPlanetary.mo
index aec4f121..02c40a5d 100644
--- a/PlanarMechanics/GearComponents/Examples/Utilities/RigidNoLossPlanetary.mo
+++ b/PlanarMechanics/GearComponents/Examples/Utilities/RigidNoLossPlanetary.mo
@@ -131,7 +131,7 @@ equation
points={{-80,30},{-80,10},{-70,10}},
color={95,95,95},
thickness=0.5));
- connect(bearing_Sun.flange_a, flange_Sun) annotation (Line(
+ connect(bearing_Sun.axis, flange_Sun) annotation (Line(
points={{-60,0},{-60,0},{-60,-10},{-100,-10},{-100,0}}));
connect(bearing_Carrier.frame_b, carrierAngle.frame_a) annotation (Line(
points={{-50,-40},{-40,-40}},
@@ -145,13 +145,13 @@ equation
points={{-70,40},{-80,40},{-80,30}},
color={95,95,95},
thickness=0.5));
- connect(bearing_Ring.flange_a, flange_Ring) annotation (Line(
+ connect(bearing_Ring.axis, flange_Ring) annotation (Line(
points={{-60,50},{-60,60},{-100,60}}));
connect(planet.frame_a, bearing_Planet.frame_b) annotation (Line(
points={{72,40},{48,40},{48,-40},{40,-40}},
color={95,95,95},
thickness=0.5));
- connect(sun.flange_a, bearing_Sun.flange_a) annotation (Line(
+ connect(sun.flange_a, bearing_Sun.axis) annotation (Line(
points={{-40,-10},{-60,-10},{-60,0}}));
connect(bearing_Sun.frame_b, sunPlanet.frame_a) annotation (Line(
points={{-50,10},{0,10}},
@@ -163,7 +163,7 @@ equation
points={{-50,40},{0,40}},
color={95,95,95},
thickness=0.5));
- connect(ring.flange_a, bearing_Ring.flange_a) annotation (Line(
+ connect(ring.flange_a, bearing_Ring.axis) annotation (Line(
points={{-40,60},{-60,60},{-60,50}}));
connect(sunPlanet.heatPort, internalHeatPort) annotation (Line(
points={{0,0},{60,0},{60,-60},{-90,-60},{-90,-80},{-100,-80}},
@@ -171,7 +171,7 @@ equation
connect(planetRing.heatPort, internalHeatPort) annotation (Line(
points={{20,30},{60,30},{60,-60},{-90,-60},{-90,-80},{-100,-80}},
color={191,0,0}));
- connect(bearing_Carrier.flange_a, carrier.flange_a) annotation (Line(
+ connect(bearing_Carrier.axis, carrier.flange_a) annotation (Line(
points={{-60,-30},{-60,-26},{70,-26}}));
connect(planarWorld.MBFrame_a,frameVisualisation) annotation (Line(
points={{60,-80},{0,-80},{0,-100}},
diff --git a/PlanarMechanics/Joints/Prismatic.mo b/PlanarMechanics/Joints/Prismatic.mo
index 494d862b..fe3745f9 100644
--- a/PlanarMechanics/Joints/Prismatic.mo
+++ b/PlanarMechanics/Joints/Prismatic.mo
@@ -14,14 +14,15 @@ model Prismatic "A prismatic joint"
final parameter Real e[2](each final unit="1") = Modelica.Math.Vectors.normalizeWithAssert(r)
"Unit vector in direction of r";
- Modelica.Mechanics.Translational.Interfaces.Flange_a flange_a(f = f, s = s) if useFlange
- annotation (
- Placement(transformation(extent={{-10,-110},{10,-90}})));
+ Modelica.Mechanics.Translational.Interfaces.Flange_a axis(
+ f=f,
+ s=s) if useFlange
+ "1-dim. translational flange that drives the joint"
+ annotation (Placement(transformation(extent={{-10,-110},{10,-90}})));
Modelica.Mechanics.Translational.Interfaces.Flange_b support if useFlange
"1-dim. translational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)"
- annotation (Placement(transformation(extent={{10,10},{-10,-10}}, rotation=180,
- origin={-60,-100})));
+ annotation (Placement(transformation(extent={{-70,-110},{-50,-90}})));
parameter SI.Length zPosition = planarWorld.defaultZPosition
"Position z of the prismatic joint box" annotation (Dialog(
diff --git a/PlanarMechanics/Joints/Revolute.mo b/PlanarMechanics/Joints/Revolute.mo
index 8275be30..1e8f9dca 100644
--- a/PlanarMechanics/Joints/Revolute.mo
+++ b/PlanarMechanics/Joints/Revolute.mo
@@ -9,14 +9,13 @@ model Revolute "A revolute joint"
parameter StateSelect stateSelect=StateSelect.default
"Priority to use phi and w as states" annotation(HideResult=true,Dialog(tab="Advanced"));
- Modelica.Mechanics.Rotational.Interfaces.Flange_a flange_a(phi = phi, tau = t) if useFlange annotation (
- Placement(transformation(extent={{-10,-110},{10,-90}})));
-
+ Modelica.Mechanics.Rotational.Interfaces.Flange_a axis(
+ phi=phi,
+ tau=t) if useFlange "1-dim. rotational flange that drives the joint"
+ annotation (Placement(transformation(extent={{-10,-110},{10,-90}})));
Modelica.Mechanics.Rotational.Interfaces.Flange_b support if useFlange
"1-dim. rotational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)"
- annotation (Placement(transformation(extent={{-10,10},{10,-10}},
- rotation=180,
- origin={-60,-100})));
+ annotation (Placement(transformation(extent={{-70,-110},{-50,-90}})));
parameter SI.Length zPosition = planarWorld.defaultZPosition
"Position z of cylinder representing the joint axis" annotation (Dialog(
diff --git a/PlanarMechanics/Resources/Scripts/Conversion/ConvertFromPlanarMechanics_2_0_0.mos b/PlanarMechanics/Resources/Scripts/Conversion/ConvertFromPlanarMechanics_2_0_0.mos
index 3a20f236..16b4357a 100644
--- a/PlanarMechanics/Resources/Scripts/Conversion/ConvertFromPlanarMechanics_2_0_0.mos
+++ b/PlanarMechanics/Resources/Scripts/Conversion/ConvertFromPlanarMechanics_2_0_0.mos
@@ -43,3 +43,8 @@ convertClass("PlanarMechanics.Utilities.Functions.atan3b",
"Modelica.Math.atan3")
// No conversion for PlanarMechanics.Utilities.Functions.atan3b_der
// and PlanarMechanics.Utilities.Functions.atan3b_dder
+
+// Issue 169
+convertElement({"PlanarMechanics.Joints.Prismatic",
+ "PlanarMechanics.Joints.Revolute"},
+ "flange_a", "axis");
diff --git a/PlanarMechanics/UsersGuide/ReleaseNotes.mo b/PlanarMechanics/UsersGuide/ReleaseNotes.mo
index 7456d23f..2d3607d6 100644
--- a/PlanarMechanics/UsersGuide/ReleaseNotes.mo
+++ b/PlanarMechanics/UsersGuide/ReleaseNotes.mo
@@ -40,31 +40,43 @@ It is not backwards compatible to previous library versions.
-Deleted parameters:
+Deleted parameters (conversion script is provided):
+
+Renamed parameters (conversion script is provided):
+
diff --git a/PlanarMechanics/VehicleComponents/Examples/TwoTrackWithDifferentialGear.mo b/PlanarMechanics/VehicleComponents/Examples/TwoTrackWithDifferentialGear.mo
index 09013dae..f4d25544 100644
--- a/PlanarMechanics/VehicleComponents/Examples/TwoTrackWithDifferentialGear.mo
+++ b/PlanarMechanics/VehicleComponents/Examples/TwoTrackWithDifferentialGear.mo
@@ -239,9 +239,9 @@ equation
points={{-40,20},{-40,12},{-30,12}},
color={95,95,95},
thickness=0.5));
- connect(torque.flange, revolute2.flange_a) annotation (Line(
+ connect(torque.flange, revolute2.axis) annotation (Line(
points={{-10,40},{-10,30},{-30,30}}));
- connect(revolute.flange_a, revolute2.flange_a) annotation (Line(
+ connect(revolute.axis, revolute2.axis) annotation (Line(
points={{30,30},{30,30},{-30,30}}));
connect(revolute.frame_a, rightTrail.frame_a) annotation (Line(
points={{40,40},{40,50}},
diff --git a/PlanarMechanicsTest/Sensors.mo b/PlanarMechanicsTest/Sensors.mo
index 7b1d34ba..f9e9132d 100644
--- a/PlanarMechanicsTest/Sensors.mo
+++ b/PlanarMechanicsTest/Sensors.mo
@@ -392,7 +392,7 @@ Expected results:
points={{20,80},{0,80},{0,-20},{10,-20}},
color={95,95,95},
thickness=0.5));
- connect(constantTorque.flange, revolute1.flange_a) annotation (Line(points={{-70,-60},{-60,-60},{-60,-30}}, color={0,0,0}));
+ connect(constantTorque.flange, revolute1.axis) annotation (Line(points={{-70,-60},{-60,-60},{-60,-30}}, color={0,0,0}));
annotation (experiment(StopTime=1));
end AbsoluteAccCentrifugalAcc;
@@ -451,7 +451,7 @@ Expected results:
points={{-80,0},{-76,0},{-76,-30},{68,-30},{68,-10}},
color={95,95,95},
thickness=0.5));
- connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{-20,40},{-20,20},{-30,20},{-30,10}}));
+ connect(damper.flange_b, revolute.axis) annotation (Line(points={{-20,40},{-20,20},{-30,20},{-30,10}}));
connect(revolute.support,damper. flange_a) annotation (Line(points={{-36,10},{-36,20},{-40,20},{-40,40}}));
annotation (
experiment(StopTime=3));
@@ -516,7 +516,7 @@ Expected results:
points={{0,0},{10,0}},
color={95,95,95},
thickness=0.5));
- connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{30,40},{30,20},{20,20},{20,10}}));
+ connect(damper.flange_b, revolute.axis) annotation (Line(points={{30,40},{30,20},{20,20},{20,10}}));
connect(revolute.support,damper. flange_a) annotation (Line(points={{14,10},{14,20},{10,20},{10,40}}));
annotation (
experiment(StopTime=3));
@@ -602,7 +602,7 @@ Expected results:
connect(signalVec3.y,worldForce. force) annotation (Line(
points={{-39,-40},{-22,-40}},
color={0,0,127}));
- connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{40,40},{40,20},{30,20},{30,10}}));
+ connect(damper.flange_b, revolute.axis) annotation (Line(points={{40,40},{40,20},{30,20},{30,10}}));
connect(revolute.support,damper. flange_a) annotation (Line(points={{24,10},{24,20},{20,20},{20,40}}));
annotation (
experiment(StopTime=3));
diff --git a/PlanarMechanicsTest/Sources.mo b/PlanarMechanicsTest/Sources.mo
index 0b1407d5..afcea403 100644
--- a/PlanarMechanicsTest/Sources.mo
+++ b/PlanarMechanicsTest/Sources.mo
@@ -98,7 +98,7 @@ package Sources "Test models for PlanarMechanics.Sources"
points={{20,20},{30,20},{30,50},{40,50}},
color={95,95,95},
thickness=0.5));
- connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{-10,90},{-10,70},{-20,70},{-20,60}}));
+ connect(damper.flange_b, revolute.axis) annotation (Line(points={{-10,90},{-10,70},{-20,70},{-20,60}}));
connect(revolute.support, damper.flange_a) annotation (Line(points={{-26,60},{-26,70},{-30,70},{-30,90}}));
annotation (
experiment(StopTime=3));
@@ -177,7 +177,7 @@ package Sources "Test models for PlanarMechanics.Sources"
points={{10,-40},{20,-40},{20,20},{30,20}},
color={95,95,95},
thickness=0.5));
- connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{-20,60},{-20,40},{-30,40},{-30,30}}));
+ connect(damper.flange_b, revolute.axis) annotation (Line(points={{-20,60},{-20,40},{-30,40},{-30,30}}));
connect(revolute.support, damper.flange_a) annotation (Line(points={{-36,30},{-36,40},{-40,40},{-40,60}}));
connect(fixedRotated.frame, force_inFrameResolve.frame_resolve) annotation (Line(
points={{-50,-80},{0,-80}},
@@ -257,7 +257,7 @@ package Sources "Test models for PlanarMechanics.Sources"
connect(signalVec3.y, force_inWorld.force) annotation (Line(points={{-39,-40},{-30,-40},{-30,-10},{-12,-10}}, color={0,0,127}));
connect(signalVec3.y, force_inFrameA.force) annotation (Line(points={{-39,-40},{-12,-40}}, color={0,0,127}));
connect(signalVec3.y, force_inFrameResolve.force) annotation (Line(points={{-39,-40},{-30,-40},{-30,-70},{-12,-70}}, color={0,0,127}));
- connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{-20,60},{-20,40},{-30,40},{-30,30}}));
+ connect(damper.flange_b, revolute.axis) annotation (Line(points={{-20,60},{-20,40},{-30,40},{-30,30}}));
connect(revolute.support, damper.flange_a) annotation (Line(points={{-36,30},{-36,40},{-40,40},{-40,60}}));
connect(fixedRotated.frame, force_inFrameResolve.frame_resolve) annotation (Line(
points={{-40,-80},{0,-80}},