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The PlanarMechanics library was created especially for modeling multibody systems with two-dimensional mechanical components. Compared to the MultiBody library, currently available in the Modelica Standard Library, it is simpler to use and it is more optimized to planar modeling. Planar models of mechanical systems are useful in many different applications, for example, in contact problems that are more easily modeled in 2D than in 3D.


  • Hierarchical and large-scale modeling of mechanical systems in two dimensions
  • Compact library and model design, which means fewer parameters and shorter build time
  • Subpackages with components for vehicle and gear modeling, joints, sensors and visualizers
  • Numerous example models that show the wide variety of systems that can be modeled with the library, such as robots, vehicles and crab cranes
  • A PlanarWorld model that can be used to set up almost all global parameters, such as the animation of joints, parts and sources
  • Built-in animation of all models, providing an easy visual check of your modeling process
  • Allows the combination of components from the PlanarMechanics library and components from the Modelica Standard Library


Version 1.4.1 Platforms All Platforms
Updated May 2020 Requirements None
Size <10MB Language English
Library Dependency Modelica Standard Library 3.2.3 Support
SystemModeler Compatibility 4.0.1 and higher Documentation PlanarMechanics Documentation
    License licensed by DLR e.V. under Modelica License 2
PlanarMechanics DLR