model balljointtest

  inner Modelica.Mechanics.MultiBody.World world(n = {0, 0, -1}) annotation(

    Placement(visible = true, transformation(origin = {-78, 18}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));

  Modelica.Mechanics.MultiBody.Joints.Spherical spherical(angles_fixed = true, w_rel_a_fixed = true, z_rel_a_fixed = true)  annotation(

    Placement(visible = true, transformation(origin = {-46, 18}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));

  Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder(a_0(fixed = false),angles_fixed = true, r = {0, 1, 1}, r_0(fixed = true), v_0(fixed = false), w_0_fixed = true, z_0_fixed = true)  annotation(

    Placement(visible = true, transformation(origin = {-16, 18}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));

  Modelica.Mechanics.MultiBody.Joints.Spherical spherical1(angles_fixed = true, w_rel_a_fixed = true, z_rel_a_fixed = true) annotation(

    Placement(visible = true, transformation(origin = {20, 18}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));

  Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder1(a_0(fixed = false), angles_fixed = true, r = {0, 0, -1}, r_0(fixed = true), v_0(fixed = false), w_0_fixed = true, z_0_fixed = true) annotation(

    Placement(visible = true, transformation(origin = {56, 18}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));

  Modelica.Mechanics.MultiBody.Joints.Spherical spherical2(angles_fixed = true, w_rel_a_fixed = true, z_rel_a_fixed = true) annotation(

    Placement(visible = true, transformation(origin = {92, 18}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));

  Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder2(a_0(fixed = false), angles_fixed = true, r = {0, -1, 0}, r_0(fixed = true), v_0(fixed = false), w_0_fixed = true, z_0_fixed = true) annotation(

    Placement(visible = true, transformation(origin = {124, 18}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));

equation

  connect(world.frame_b, spherical.frame_a) annotation(

    Line(points = {{-68, 18}, {-56, 18}, {-56, 18}, {-56, 18}}));

  connect(spherical.frame_b, bodyCylinder.frame_a) annotation(

    Line(points = {{-36, 18}, {-26, 18}}, color = {95, 95, 95}));

  connect(bodyCylinder.frame_b, spherical1.frame_a) annotation(

    Line(points = {{-6, 18}, {10, 18}, {10, 18}, {10, 18}}));

  connect(spherical1.frame_b, bodyCylinder1.frame_a) annotation(

    Line(points = {{30, 18}, {46, 18}, {46, 18}, {46, 18}}, color = {95, 95, 95}));

  connect(bodyCylinder1.frame_b, spherical2.frame_a) annotation(

    Line(points = {{66, 18}, {82, 18}, {82, 18}, {82, 18}}, color = {95, 95, 95}));

  connect(spherical2.frame_b, bodyCylinder2.frame_a) annotation(

    Line(points = {{102, 18}, {112, 18}, {112, 18}, {114, 18}}, color = {95, 95, 95}));

  connect(bodyCylinder2.frame_b, world.frame_b) annotation(

    Line(points = {{134, 18}, {156, 18}, {156, 30}, {-62, 30}, {-62, 18}, {-68, 18}, {-68, 18}}, color = {95, 95, 95}));

  annotation(

    uses(Modelica(version = "3.2.2")));

end balljointtest;