Torque
Torque acting between two frames, defined by 3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve
Library
Modelica/Mechanics/MultiBody/Forces
Description
The 3 signals of the torque connector are interpreted as the x-, y- and z-coordinates of a torque acting at the frame connector to which frame_b of this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:
| Types.ResolveInFrameAB. | Meaning |
|---|---|
| world | Resolve input torque in world frame |
| frame_a | Resolve input torque in frame_a |
| frame_b | Resolve input torque in frame_b (= default) |
| frame_resolve | Resolve input torque in frame_resolve (frame_resolve must be connected) |
If resolveInFrame = ResolveInFrameAB.frame_resolve, the torque coordinates are with respect to the frame, that is connected to frame_resolve.
If torque={100,0,0}, and for all parameters the default setting is used, then the interpretation is that a torque of 100 N.m is acting along the positive x-axis of frame_b.
Note, the cut-forces in frame_a and frame_b (frame_a.f, frame_b.f) are always set to zero and the cut-torque at frame_a (frame_a.t) is the same as the cut-torque at frame_b (frame_b.t) but with opposite sign.
An example how to use this model is given in the following figure:
This leads to the following animation (the yellow cylinder characterizes the line between frame_a and frame_b of the Torque component, i.e., the torque acts with negative sign also on the opposite side of this cylinder, but for clarity this is not shown in the animation):
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_animation | animation | = true, if animation shall be enabled | Scalar | true |
mo_resolveInFrame | resolveInFrame | Frame in which input force is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Resolve in world frame | Number | 0 | |
mo_resolveInFrame/choice2 | Resolve in frame_a | Number | 0 | |
mo_resolveInFrame/choice3 | Resolve in frame_b | Number | 0 | |
mo_resolveInFrame/choice4 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 | |
mo_Nm_to_m | Nm_to_m | Torque arrow scaling (length = torque/Nm_to_m) | Scalar | |
mo_torqueDiameter | torqueDiameter | Diameter of torque arrow | Scalar | |
mo_connectionLineDiameter | connectionLineDiameter | Diameter of line connecting frame_a and frame_b | Scalar | |
mo_torqueColor | torqueColor | Color of torque arrow | Vector of size 3 | |
mo_connectionLineColor | connectionLineColor | Color of line connecting frame_a and frame_b | Vector of size 3 | |
mo_specularCoefficient | specularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) | Scalar |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_torque | torque | torque | Structure | |
mo_torque/fixed | fixed | Cell of vectors of size 3 | true | |
mo_torque/start | start | Cell of vectors of size 3 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system a fixed to the component with one cut-force and cut-torque | input | 1 |
frame_b | implicit | Coordinate system b fixed to the component with one cut-force and cut-torque | output | 1 |
torque | implicit | x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame | input | 2 |
Port 4 | implicit | The input signals are optionally resolved in this frame | output | mo_resolveInFrame.choice4 |