Components

[baggepinnen]

The following is a shortlist of components we should prioritize adding. The Modelica standard library has several components in addition to those specified here. The first requirement is to add all the internal support components required to ModelingToolkitStandardLibrary.Mechanical.Rotational such as

• ConstantTorque
• InternalSupport

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Then, we need to implement the most important multibody components

• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Forces/Damper.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Forces/ForceAndTorque.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Forces/SpringDamperParallel.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Forces/SpringDamperSeries.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Forces/Torque.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Forces/WorldForce.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Forces/WorldForceAndTorque.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Forces/WorldTorque.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Joints/Cylindrical.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Joints/FreeMotion.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Joints/GearConstraint.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Joints/Planar.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Joints/Prismatic.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Joints/RollingWheel.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Joints/Spherical.mo
• https://github.com/modelica/ModelicaStandardLibrary/blob/master/Modelica/Mechanics/MultiBody/Joints/Universal.mo
• Almost all of https://github.com/modelica/ModelicaStandardLibrary/tree/master/Modelica/Mechanics/MultiBody/Parts
• All of https://github.com/modelica/ModelicaStandardLibrary/tree/master/Modelica/Mechanics/MultiBody/Sensors

Of highest priority are

• the most common joints, like prismatic, spherical and universal
• The sensors
• the most common parts that are not modeled at all by the generic Body, like wheels, fixed transformations etc.

[baggepinnen]

Friction

Friction components are likely going to be challenging to model in MTK. Hopefully, the clocked functionality of SymbolicIR becomes robust enough for us to implement a state machine using discrete variables, in which case we are oen step closer to an accurate friction model. The modelica people have written a bit about modeling and simulating friction here
https://doc.modelica.org/om/Modelica.Mechanics.Rotational.UsersGuide.ModelingOfFriction.html