model Pendulum1 "Simple pendulum with one revolute joint and one body" inner Modelica.Mechanics.MultiBody.World world(gravityType = Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity) annotation(Placement(transformation(extent = {{-60, 0}, {-40, 20}}))); Modelica.Mechanics.MultiBody.Joints.Revolute rev(n = {0, 0, 1}, phi(displayUnit = "rad", fixed = true, start = -0.523), useAxisFlange = true, w(fixed = true, start = -1)) annotation(Placement(transformation(extent = {{-20, 0}, {0, 20}}))); Modelica.Mechanics.Rotational.Components.Damper damper(d = 0, phi_rel(displayUnit = "rad")) annotation(Placement(transformation(extent = {{-20, 40}, {0, 60}}))); Modelica.Mechanics.MultiBody.Parts.Body body(angles_start(displayUnit = "rad") = {0, 0, 0}, m = 1.0, r_CM = {5, 0, 0}) annotation(Placement(transformation(extent = {{20, 0}, {40, 20}}))); equation connect(world.frame_b, rev.frame_a) annotation(Line(points = {{-40, 10}, {-20, 10}}, color = {95, 95, 95}, thickness = 0.5)); connect(damper.flange_b, rev.axis) annotation(Line(points = {{0, 50}, {4, 50}, {4, 26}, {-10, 26}, {-10, 20}})); connect(rev.support, damper.flange_a) annotation(Line(points = {{-16, 20}, {-16, 26}, {-28, 26}, {-28, 50}, {-20, 50}})); connect(body.frame_a, rev.frame_b) annotation(Line(points = {{20, 10}, {0, 10}}, color = {95, 95, 95}, thickness = 0.5)); annotation(experiment(StopTime = 50, StartTime = 0, Tolerance = 0.0001, Interval = 0.1), Documentation(info = "

This simple model demonstrates that by just dragging components default animation is defined that shows the structure of the assembled system. \"model ")); end Pendulum1;