WorldForce
External force acting at frame_b, defined by 3 input signals and resolved in frame world, frame_b or frame_resolve
Library
Modelica/Mechanics/MultiBody/Forces
Description
The 3 signals of the force connector are interpretedas the x-, y- and z-coordinates of a force acting at the frameconnector to which frame_b of this component is attached.Via parameter resolveInFrame it is defined, in which frame thesecoordinates shall be resolved:
| Types.ResolveInFrameB. | Meaning |
|---|---|
| world | Resolve input force in world frame (= default) |
| frame_b | Resolve input force in frame_b |
| frame_resolve | Resolve input force in frame_resolve (frame_resolve must be connected) |
If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the force coordinatesare with respect to the frame, that is connected to frame_resolve.
If force={100,0,0}, and for all parameters the default setting is used,then the interpretation is that a force of 100 N is acting along the positivex-axis of frame_b.
Note, the cut-torque in frame_b (frame_b.t) is always set to zero.Conceptually, a force and torque acts on the world frame in such a way thatthe force and torque balance between world.frame_b and frame_b is fulfilled.For efficiency reasons, this reaction torque is, however, not computed.
This force component is by default visualized as an arrowacting at the connector to which it is connected. The diameterand color of the arrow can be defined viavariables diameter and color. The arrowpoints in the direction defined by theforce signal. The length of the arrow is proportionalto the length of the force vector using parameterN_to_m as scaling factor. For example, if N_to_m = 100 N/m,then a force of 350 N is displayed as an arrow of length 3.5 m.
An example how to use this model is given in thefollowing figure:
This leads to the following 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_b, 3: frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Resolve in world frame | Number | 0 | |
mo_resolveInFrame/choice2 | Resolve in frame_b | Number | 0 | |
mo_resolveInFrame/choice3 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 | |
mo_N_to_m | N_to_m | Force arrow scaling (length = force/N_to_m) | Scalar | |
mo_diameter | diameter | Diameter of force arrow | Scalar | |
mo_color | color | Color of arrow | 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__nmodifiers | Number of Modifiers | Specifies the number of modifiers | Number | |
mo__modifiers | Modifiers | Add new modifier | Structure | |
mo__modifiers/varname | Variable name | Cell of strings | 'f_in_m' | |
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_b | implicit | Coordinate system fixed to the component with one cut-force and cut-torque | output | 1 |
force | implicit | x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame | input | 1 |
Port 3 | implicit | The input signals are optionally resolved in this frame | output | mo_resolveInFrame.choice3 |