Specifications

When you press the run button you will see a whole lot of text scrolling over the message pane below the

study tree. You can scroll up and down using the vertical slider bar, but it is probably easier to maximize the

window and move the divider bar up a little. At this point, if you scroll up a bit you will come to a line of

asterixes where the output from the ModelInformation operation starts. The first section looks like this:

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Model Information: (Operation: Main.ArmStudy.ModelInformation):

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0) Contents:

1) List of segments

2) List of joints and kinematic constraints

3) List of reaction forces

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This is obviously a table of contents and it introduces the different sections you can find further down. The

first of these looks like this:

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1) List of segments:

0: Main.ArmModel.Segs.UpperArm

1: Main.ArmModel.Segs.ForeArm

Total number of rigid-body d.o.f.: 12

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This section is a table of the segments in the model. In a simple model like arm2d where all the segments

are defined next to each other, this might seem a little unnecessary, but larger models typically have the

segment definitions divided over many different folders and files, and it can be helpful to see a compiled list

of all of them. AnyBody models are always in three dimensions and a rigid segment in three dimensional

space has six degrees of freedom, i.e. three spatial movements and three rotations. Thus, the

ModelInformation operation multiplies the number of segments by 6 and reports the total number of rigid-

body degrees of freedom, in this case 2 x 6 = 12. To enable the system to figure out where everything is in

space we must provide 12 constraints. This is what the next section helps us do:

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2) List of joints and kinematic constraints:

Joints:

0: Main.ArmModel.Jnts.Shoulder (5constr., 1coords.)

1: Main.ArmModel.Jnts.Elbow (5constr., 1coords.)

Total number of joint coordinates: 2

Drivers: