model ballTypeLinearDrive

  inner Modelica.Mechanics.MultiBody.World world annotation(Placement(transformation(extent = {{-80, 10}, {-60, 30}})));

  Modelica.Mechanics.MultiBody.Parts.BodyCylinder screwShaft(diameter = 0.2, innerDiameter = 0, z_0_fixed = false, w_0_fixed = false, animation = true, lengthDirection = {1, 0, 0}, length = 2, r = {1, 0, 0}, angles_start = {0, 0, 0}, angles_fixed = false) annotation(Placement(transformation(extent = {{14, 10}, {34, 30}})));

  Modelica.Mechanics.MultiBody.Parts.BodyCylinder screwNut(length = 0.1, diameter = 0.5, innerDiameter = screwShaft.diameter, lengthDirection = {1, 0, 0}, animation = true, r_shape = {0, 0, 0}, r = {1, 0, 0}, w_0_fixed = false, angles_fixed = false) annotation(Placement(transformation(extent = {{78, 10}, {98, 30}})));

  Modelica.Mechanics.MultiBody.Joints.Revolute revolute(useAxisFlange = true, n = {1, 0, 0}) annotation(Placement(transformation(extent = {{-20, 10}, {0, 30}})));

public

  Modelica.Mechanics.MultiBody.Parts.BodyBox bearing(length = 0.1, width = 0.1, height = 0.1, color = {215, 215, 215}, animation = true) annotation(Placement(transformation(extent = {{-50, 10}, {-30, 30}})));

  Modelica.Mechanics.Rotational.Sources.Torque torque(useSupport = false) annotation(Placement(transformation(extent = {{-30, 52}, {-10, 72}})));

  Modelica.Blocks.Sources.Ramp ramp(duration = 1, height = 1, offset = 0, startTime = 0) annotation(Placement(transformation(extent = {{-62, 52}, {-42, 72}})));

  Screw screw annotation(Placement(transformation(extent = {{46, 10}, {66, 30}})));

equation

  connect(revolute.frame_b, screwShaft.frame_a) annotation(Line(points = {{0, 20}, {14, 20}}, color = {95, 95, 95}, thickness = 0.5, smooth = Smooth.None));

  connect(bearing.frame_b, revolute.frame_a) annotation(Line(points = {{-30, 20}, {-20, 20}}, color = {95, 95, 95}, thickness = 0.5, smooth = Smooth.None));

  connect(torque.flange, revolute.axis) annotation(Line(points = {{-10, 62}, {-10, 30}}, color = {0, 0, 0}, smooth = Smooth.None));

  connect(ramp.y, torque.tau) annotation(Line(points = {{-41, 62}, {-32, 62}}, color = {0, 0, 127}, smooth = Smooth.None));

  connect(world.frame_b, bearing.frame_a) annotation(Line(points = {{-60, 20}, {-50, 20}}, color = {95, 95, 95}, thickness = 0.5, smooth = Smooth.None));

  connect(screw.frame_a, screwShaft.frame_b) annotation(Line(points = {{46, 20}, {34, 20}}, color = {95, 95, 95}, thickness = 0.5, smooth = Smooth.None));

  connect(screw.frame_b, screwNut.frame_a) annotation(Line(points = {{66, 20}, {78, 20}}, color = {95, 95, 95}, thickness = 0.5, smooth = Smooth.None));

  annotation(Diagram(graphics));

end ballTypeLinearDrive;

model Screw

  import SI = Modelica.SIunits;

  SI.Angle[3] phi(start = {0, 0, 0});

  SI.Position[3] s;

  Real[3, 3] R;

  parameter Real k = 0.5;

  Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a "Coordinate system fixed to the component with one cut-force and cut-torque" annotation(Placement(transformation(extent = {{-116, -16}, {-84, 16}}, rotation = 0)));

  Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b "Coordinate system fixed to the component with one cut-force and cut-torque" annotation(Placement(transformation(extent = {{84, -16}, {116, 16}}, rotation = 0)));

protected

  outer Modelica.Mechanics.MultiBody.World world;

equation

  frame_a.R.w = der(phi);

  R = [1, 0, 0; 0, cos(phi[1]), -1 * sin(phi[1]); 0, sin(phi[1]), cos(phi[1])];

  for i in 1:3 loop

    frame_b.R.T[i, 2] = frame_a.R.T[i, 2] * R[i, 2];

  end for;

  frame_b.r_0 = frame_a.r_0 - s;

  s = {phi[1] * k, 0, 0};

  frame_a.f = -frame_b.f;

  frame_a.t = -frame_b.t;

  annotation(Icon(coordinateSystem(preserveAspectRatio = true, extent = {{-100, -100}, {100, 100}}, grid = {1, 1}), graphics = {Text(extent = {{-136, -25}, {-100, -50}}, lineColor = {128, 128, 128}, textString = "a"), Text(extent = {{100, -25}, {136, -50}}, lineColor = {128, 128, 128}, textString = "b"), Rectangle(extent = {{-53, 50}, {63, -64}}, lineColor = {0, 0, 255}, fillColor = {175, 175, 175}, fillPattern = FillPattern.Solid)}), Documentation(info = "<HTML>

<p>



</p>

</HTML>"), Diagram(coordinateSystem(preserveAspectRatio = true, extent = {{-100, -100}, {100, 100}}, grid = {1, 1}), graphics));

end Screw;