Using 2d mechanics components

• "Local" approach with switchable components:
  • uses only MSL components and free Planar Mechanical Library
  • standard components for RigidBody and Revolute
  • Rope2D component
    • provides outward force and slack of the rope
    • has input to switch between fixed and loose length
  • RPTrigger component
    • uses standard flipflop to represent the state
• Implementation of Rope2d:
  • basic idea from Maplesoft support
  • prismatic joint controlled by a rod of fixed length
  • rod is attached to a brake
  • brake open/closed → rod is moving/fixed
  • technical problem
    • brake applies large, but finite force
    • → transition from falling to swinging takes a short time