CutTorque
Measure cut torque vector
Library
Modelica/Mechanics/MultiBody/Sensors
Description
The cut-torque acting between the two frames to which this model is connected, is determined and provided at the output signal connector torque (= frame_a.t). If parameter positiveSign = false, the negative cut-torque is provided (= frame_b.t).
Via parameter resolveInFrame it is defined, in which frame the torque vector is resolved:
| resolveInFrame = Types.ResolveInFrameA. | Meaning |
|---|---|
| world | Resolve vector in world frame |
| frame_a | Resolve vector in frame_a |
| frame_resolve | Resolve vector in frame_resolve |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and output torque is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
In the following figure the animation of a CutTorque sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut torque acting at frame_b and with negative sign at frame_a.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_animation | animation | = true, if animation shall be enabled (show arrow) | Scalar | true |
mo_positiveSign | positiveSign | = true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t) | Scalar | true |
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_torqueColor | torqueColor | Color of torque arrow | Vector of size 3 | |
mo_specularCoefficient | specularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) | Scalar | |
mo_resolveInFrame | resolveInFrame | Frame in which output vector(s) is/are resolved (world, frame_a, or 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_resolve (frame_resolve must be connected) | Number | 0 |
| 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 |
|---|---|---|---|---|
torque | implicit | Cut torque resolved in frame defined by resolveInFrame | output | 1 |
frame_a | implicit | Coordinate system a | input | 1 |
frame_b | implicit | Coordinate system b | output | 2 |
Port 4 | implicit | Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero) | output | mo_resolveInFrame.choice3 |