CutTorque
Measure cut torque vector
Library
Modelica/Mechanics/MultiBody/Sensors
Description
The cut-torque acting between the two frames to which thismodel is connected, is determined and provided at the output signal connectortorque (= frame_a.t). If parameter positiveSign =false, the negative cut-torque is provided (= frame_b.t).
Via parameter resolveInFrame it is defined, in which framethe 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, towhich frame_resolve is connected. Note, if this connector is enabled, it mustbe connected.
In the following figure the animation of a CutTorquesensor is shown. The dark blue coordinate system is frame_b,and the green arrow is the cut torque acting at frame_b andwith 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_resolveInFrame | resolveInFrame | Frame in which output vector(s) is/are resolved (world, frame_a, or frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.world | Number | 0 | |
mo_resolveInFrame/choice2 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a | Number | 0 | |
mo_resolveInFrame/choice3 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_resolve | Number | 0 | |
mo_torqueColor | torqueColor | Color of torque 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 | ||
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
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 |