BasicCutForce
Basic sensor to measure cut force vector (frame_resolve must be connected)
Library
Modelica/Mechanics/MultiBody/Sensors/Internal
Description
This basic sensor is aimed to be used within advanced sensors wherethe cut-force acting between the two frames is determined to which thismodel is connected.This cut-force is provided at the output signal connectorforce (= frame_a.f). If parameter positiveSign =false, the negative cut-force is provided (= frame_b.f).
Via parameter resolveInFrame it is defined in which framethe force 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_resolveis always enabled and must be connected.If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector force isresolved in the frame to which frame_resolve is connected.
In the following figure the animation of a CutForcesensor is shown. The dark blue coordinate system is frame_b,and the green arrow is the cut force acting at frame_b andwith 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 force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f) | Scalar | true |
mo_csign | csign | 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 |
|---|---|---|---|---|
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 |
force | implicit | Cut force resolved in frame defined by resolveInFrame | output | 3 |