CutForceAndTorque
Measure cut force vector and cut torque
Library
PlanarMechanics/Sensors
Description
The cut-force and cut-torque acting between the two frames to which thismodel is connected, are determined and provided at the output signal connectorsforce (= frame_a.f) and torque(= frame_a.t).If parameter positiveSign = false, the negativecut-force and cut-torque is provided (= frame_b.f, frame_b.t).
Via parameter resolveInFrame it is defined, in which framethe force vector is resolved.
| resolveInFrame = … | Force vector resolved in |
|---|---|
| Types.ResolveInFrameAB.world | world frame |
| Types.ResolveInFrameAB.frame_a | frame_a |
| Types.ResolveInFrameAB.frame_b | frame_b |
| Types.ResolveInFrameAB.frame_resolve | frame_resolve (must be connected) |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve,the conditional connector frame_resolve is enabled andoutput force is resolved in the frame, to whichframe_resolve is connected.Note, if this connector is enabled, it must be connected.
In the following figure the animation of thesensor is shown. The dark blue coordinate system is frame_b,and the green arrows are the cut force and the cut torque,respectively, 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 force and torque arrow) | Scalar | true |
mo_positiveSign | positiveSign | = true, if force and torque with positive sign is returned (= frame_a.f/.t), otherwise with negative sign (= frame_b.f/.t) | Scalar | true |
mo_resolveInFrame | resolveInFrame | Frame in which output vector(s) is/are resolved (1: world, 2: frame_a, 3: 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_csign | csign | Scalar | ||
mo_N_to_m | N_to_m | Force arrow scaling (length = force/N_to_m) | Scalar | |
mo_Nm_to_m | Nm_to_m | Torque arrow scaling (length = torque/Nm_to_m) | Scalar | |
mo_forceDiameter | forceDiameter | Has no longer an effect and is only kept for backwards compatibility (arrow visualization by Vector now) | Scalar | |
mo_torqueDiameter | torqueDiameter | Has no longer an effect and is only kept for backwards compatibility (arrow visualization by Vector now) | Scalar | |
mo_forceColor | forceColor | Color of force arrow | Vector of size 3 | |
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 | 'f_in_m' | |
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
force | implicit | Cut force resolved in frame defined by resolveInFrame | output | 1 |
torque | implicit | Cut torque resolved in frame defined by resolveInFrame | output | 2 |
frame_a | implicit | Coordinate system a | input | 1 |
frame_b | implicit | Coordinate system b | input | 2 |
Port 5 | implicit | Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero) | output | mo_resolveInFrame.choice3 |