Measure cut force and cut torque vector
The cut-force and cut-torque acting between the two frames to which this model is connected, are determined and provided at the output signal connectors force (= frame_a.f) and torque (= frame_a.t). If parameter positiveSign = false, the negative cut-force and cut-torque is provided (= frame_b.f, frame_b.t).
Via parameter resolveInFrame it is defined, in which frame the two vectors are resolved:
|world||Resolve vectors in world frame|
|frame_a||Resolve vectors in frame_a|
|frame_b||Resolve vectors in frame_b|
|frame_resolve||Resolve vectors in frame_resolve|
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and the output vectors force and torque are resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
In the following figure the animation of a CutForceAndTorque sensor 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 and with negative sign at frame_a.
|frame_a||Frame_a||Coordinate system a|
|frame_b||Frame_b||Coordinate system b|
|frame_resolve||Frame_resolve||Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)|
|force||RealOutput||Cut force resolved in frame defined by resolveInFrame|
|torque||RealOutput||Cut torque resolved in frame defined by resolveInFrame|
|resolveInFrame||ResolveInFrameA||Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a||Frame in which output vector(s) is/are resolved (1: world, 2: frame_a, 3: frame_resolve)|
|animation||Boolean||true||= true, if animation shall be enabled (show force and torque arrow)|
|positiveSign||Boolean||true||= true, if force and torque with positive sign is returned (= frame_a.f/.t), otherwise with negative sign (= frame_b.f/.t)|
|csign||Integer||if positiveSign then +1 else -1|