Cables

class Cable(**kwds)

Creates a cable.

The cable receives input/output (Winch, Anchor) elements and a variable number of pulley elements, wrapping around them in an open-track configuration. If only pulleys are provided, the resulting cable track is closed.

The effects of the longitudinal tension coupling between the track components are represented by a number of bodies, joints, motions and forces. Pulley sliding contact and disengagement are considered.

Name	Type	Symbol	Required	Default	Modifiable
active	Bool			True	\(\checkmark\)
cable_mass	Double	\(m\)		1.0
components	Reference - MachineryComponent [0]
contact_damping	Double	\(c\)		100.0
contact_depth	Double	\(d\)		0.1
contact_exponent	Double	\(e\)		1.0
contact_mu	Double	\(\mu\)		0.5
contact_stiffness	Double	\(k\)		10000.0
contact_vt	Double	\(v_{t}\)		1.0
damping_ratio	Double			1.0
dc	Double	\(d_{c}\)		10.0
force_graphics	Bool			False
frc_gra_scale	Double			0.01
id	Int			Auto
ini_preload	Double			9810.0
ini_vel	Double			0.0
label	Str
liftoff_coeff	Double			0.001
name	Str
rm	Reference - Marker		\(\checkmark\)
stiffness	Double	\(K\)		100000.0

active

Defines the state of the object.

Type=Bool, Default=True, Modifiable

cable_mass

The cable mass.

Type=Double, Default=1.0

components

Type=Reference (MachineryComponent) [0]

contact_damping

The contact damping.

Type=Double, Default=100.0

contact_depth

The contact depth.

Type=Double, Default=0.1

contact_exponent

Type=Double, Default=1.0

contact_mu

The contact friction.

Type=Double, Default=0.5

contact_stiffness

The contact stiffness.

Type=Double, Default=10000.0

contact_vt

The contact transition velocity.

Type=Double, Default=1.0

damping_ratio

Type=Double, Default=1.0

dc

The diameter of the cable wrapped around the pulley.

Type=Double, Default=10.0

force_graphics

Type=Bool, Default=False

frc_gra_scale

Type=Double, Default=0.01

id

The id of the object.

Type=Int

ini_preload

The initial preload of the cable.

Type=Double, Default=9810.0

ini_vel

The initial velocity.

Type=Double, Default=0.0

label

The label of the composite element.

Type=Str

liftoff_coeff

The lift-off coefficient of the cable.

Type=Double, Default=0.001

name

Defines a nametag for the object.

Type=Str

rm

The reference marker of the composite element.

Type=Reference (Marker), Required

stiffness

The stiffness of the cable.

Type=Double, Default=100000.0

class Winch(**kwds)

Creates a winch.

A winch element can be used to attach one end of a cable, wrapping or unwrapping it around itself, in a winding or unwinding motion accordingly:

Name	Type	Symbol	Required	Default	Modifiable
active	Bool			True	\(\checkmark\)
amplitude	Double	\(A\)		0
att_body	Reference - Part		\(\checkmark\)
connection	Reference - Connection
connection_type	Enum			REVOLUTE
date_fwd	Double	\(T_{f}\)		0
date_rev	Double	\(T_{r}\)		0
dc	Double			10.0
delay	Double	\(T_{d}\)		0
id	Int			Auto
ini_wlength	Double			10000.0
label	Str
mass	Double	\(m\)		0.0
motion_function	Str			0
motion_type	Enum			DoubleStep
name	Str
radius	Double	\(R\)	\(\checkmark\)
rm	Reference - Marker		\(\checkmark\)
width	Double	\(W\)		20.0

active

Defines the state of the object.

Type=Bool, Default=True, Modifiable

amplitude

The amplitude of the winch motion defined in number of revolutions.Used only when motion_type is set to ‘DoubleStep’.

Type=Double, Default=0

att_body

The part to which the winch is attached.

Type=Reference (Part), Required

connection

Connection related.

Type=Reference (Connection)

connection_type

The type of joint used to constrain the winch to the attachment body.

Type=Enum, Default=REVOLUTE

Permitted values are:

• CYLINDRICAL

• REVOLUTE

date_fwd

The start time for the winding step function of the winch. Used only when motion_type is set to ‘DoubleStep’.

Type=Double, Default=0

date_rev

The start time for the unwinding step function of the winch. Used only when motion_type is set to ‘DoubleStep’.

Type=Double, Default=0

dc

The diameter of the cable wrapped around the winch.

Type=Double, Default=10.0

delay

Type=Double, Default=0

id

The id of the object.

Type=Int

ini_wlength

The initial wrapped length of the winch.

Type=Double, Default=10000.0

label

A string describing the object.

Type=Str

mass

The mass.

Type=Double, Default=0.0

motion_function

The user defined expression for the winch motion. Used only when motion_type is set to ‘Used Defined’.

Type=Str, Default=0

motion_type

The type of user input for the definition of the winch motion.

Type=Enum, Default=DoubleStep

Permitted values are:

• DoubleStep

• UserDefined

name

Defines a nametag for the object.

Type=Str

radius

The winch radius.

Type=Double, Required, Default=50.0

rm

Reference marker, used for positioning.

Type=Reference (Marker), Required

width

The winch axial width.

Type=Double, Default=20.0

class Pulley(**kwds)

Creates a pulley.

A pulley element, that a cable wraps around, can be used to change the direction of the load applied to the cable.

The Pulley is defined by the following dimensions (see Comment 2):

Pulley profile geometry.

Name	Type	Symbol	Required	Default	Modifiable
active	Bool			True	\(\checkmark\)
angle	Double	\(A\)		40.0
att_body	Reference - Part		\(\checkmark\)
connection	Reference - Connection
connection_type	Enum			REVOLUTE
cradius	Double	\(C\)		7.5
dc	Double	\(d_{c}\)		10.0
depth	Double	\(D\)		10.0
id	Int			Auto
label	Str
mass	Double	\(m\)		0.0
name	Str
radius	Double	\(R\)		100.0
rm	Reference - Marker		\(\checkmark\)
sliding_locking	Bool			True
width	Double	\(W\)		40.0

active

Defines the state of the object.

Type=Bool, Default=True, Modifiable

angle

The profile angle of the pulley.

Type=Double, Default=40.0

att_body

The part to which the pulley is attached.

Type=Reference (Part), Required

connection

Connection related.

Type=Reference (Connection)

connection_type

The type of joint used to constrain the pulley to the attachment body.

Type=Enum, Default=REVOLUTE

Permitted values are:

• CYLINDRICAL

• REVOLUTE

cradius

The profile radius of the pulley.

Type=Double, Default=7.5

dc

The diameter of the cable wrapped around the pulley.

Type=Double, Default=10.0

depth

The profile depth of the pulley.

Type=Double, Default=10.0

id

The id of the object.

Type=Int

label

A string describing the object.

Type=Str

mass

The mass.

Type=Double, Default=0.0

name

Defines a nametag for the object.

Type=Str

radius

The pulley radius.

Type=Double, Default=100.0

rm

Reference marker, used for positioning.

Type=Reference (Marker), Required

sliding_locking

Sliding locking activation flag.

Type=Bool, Default=True

width

The profile width of the pulley.

Type=Double, Default=40.0

class Anchor(**kwds)

Creates an Anchor.

An anchor element can be used to attach one end of a cable, and represents a fixed connection between the anchor and the attaching body:

Name	Type	Required	Default	Modifiable	Designable
active	Bool		True	\(\checkmark\)
att_body	Reference - Part	\(\checkmark\)
connection	Reference - Connection
dc	Double		10.0
density	Double		0.0
gra_size	Double		100.0
id	Int		Auto
label	Str
mass	Double		0.0
name	Str
rm	Reference - Marker	\(\checkmark\)
wradius	Double		0.0

active

Defines the state of the object.

Type=Bool, Default=True, Modifiable

att_body

The part to which the anchor is attached.

Type=Reference (Part), Required

connection

Connection related.

Type=Reference (Connection)

dc

The diameter of the cable wrapped around the pulley.

Type=Double, Default=10.0

density

The density.

Type=Double, Default=0.0

gra_size

The graphic radius of the anchor.

Type=Double, Default=100.0

id

The id of the object.

Type=Int

label

A string describing the object.

Type=Str

mass

The mass.

Type=Double, Default=0.0

name

Defines a nametag for the object.

Type=Str

rm

Reference marker, used for positioning.

Type=Reference (Marker), Required

wradius

The wrapped radius of the anchor.

Type=Double, Default=0.0