WorldForce
External force and torque acting at frame_b, defined by 3 input signals and resolved in world frame
Library
PlanarMechanics/Sources
Description
The 3 signals of the force connector contain force and torque.The first and second signal are interpreted as the x- and y-coordinates ofa force and the third is torque, acting at the frame connectorto which frame_b of this component is attached.Note that torque is a scalar quantity, which is exerted perpendicularto the x-y plane.
An example of this model is given in the following figure:
The parameter resolveInFrame defines in which frame the input force shall be resolved.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_resolveInFrame | resolveInFrame | Frame in which output vector r_rel shall be resolved (1: world, 2: frame_b, 3: frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.world | Number | 0 | |
mo_resolveInFrame/choice2 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_b | Number | 0 | |
mo_resolveInFrame/choice3 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve | Number | 0 | |
mo_animation | animation | = true, if animation shall be enabled | Scalar | true |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
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_diameter | diameter | Has no longer an effect and is only kept for backwards compatibility (arrow visualization by Vector now) | Scalar | |
mo_zPosition | zPosition | Position z of cylinder representing the fixed translation | 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 | 'R' | |
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 | input | 1 |
force | implicit | x-, y-coordinates of force and torque resolved in world frame | input | 2 |
Port 3 | implicit | Coordinate system in which vector is optionally resolved, if useExtraFrame is true | output | mo_resolveInFrame.choice3 |