BasicCutTorque
Basic sensor to measure cut torque vector (frame_resolve must be connected)
Library
Modelica/Mechanics/MultiBody/Sensors/Internal
Description
This basic sensor is aimed to be used within advanced sensors where the cut-torque acting between the two frames is determined to which this model is connected. This cut-torque is provided at the output signal connector torque (= frame_a.f). If parameter positiveSign = false, the negative cut-torque is provided (= frame_b.f).
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 |
In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector torque is resolved in the frame to which frame_resolve is 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_resolveInFrame | resolveInFrame | Frame in which output vector is 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 | |
mo_positiveSign | positiveSign | = true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t) | Scalar | true |
mo_csign | csign | 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 | input | 1 |
frame_b | implicit | Coordinate system b | output | 1 |
frame_resolve | implicit | The output vector is optionally resolved in this frame (cut-force/-torque are set to zero) | output | 2 |
torque | implicit | Cut torque resolved in frame defined by resolveInFrame | output | 3 |