WOLFRAM SYSTEMMODELER

ForceAndTorque

Force and torque acting between two frames, defined by 3+3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve

Diagram

Wolfram Language

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Click for copyable input
SystemModel["Modelica.Mechanics.MultiBody.Forces.ForceAndTorque"]
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Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

The 3 signals of the force connector and the 3 signals of the torque connector are interpreted as the x-, y- and z-coordinates of a force and of a torque acting at the frame connector to which frame_b of this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:

Types.ResolveInFrameAB.Meaning
world Resolve input force/torque in world frame
frame_a Resolve input force/torque in frame_a
frame_b Resolve input force/torque in frame_b (= default)
frame_resolve Resolve input force/torque in frame_resolve (frame_resolve must be connected)

If resolveInFrame = ResolveInFrameAB.frame_resolve, the force and torque coordinates are with respect to the frame, that is connected to frame_resolve.

If force={100,0,0}, and for all parameters the default setting is used, then the interpretation is that a force of 100 N is acting along the positive x-axis of frame_b.

Note, a force and torque acts on frame_a in such a way that the force and torque balance between frame_a and frame_b is fulfilled.

An example how to use this model is given in the following figure:

This leads to the following animation (the yellow cylinder characterizes the line between frame_a and frame_b of the ForceAndTorque component, i.e., the force and torque acts with negative sign also on the opposite side of this cylinder, but for clarity this is not shown in the animation):

Connectors (5)

frame_a

Type: Frame_a

Description: Coordinate system fixed to the component with one cut-force and cut-torque

frame_b

Type: Frame_b

Description: Coordinate system fixed to the component with one cut-force and cut-torque

force

Type: RealInput[3]

Description: x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame

torque

Type: RealInput[3]

Description: x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame

frame_resolve

Type: Frame_resolve

Description: The input signals are optionally resolved in this frame

Parameters (4)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_b

Type: ResolveInFrameAB

Description: Frame in which input force and torque are resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

N_to_m

Value: world.defaultN_to_m

Type: Real (N/m)

Description: Force arrow scaling (length = force/N_to_m)

Nm_to_m

Value: world.defaultNm_to_m

Type: Real (N·m/m)

Description: Torque arrow scaling (length = torque/Nm_to_m)

Components (7)

world

Type: World

Description:

forceArrow

Type: Arrow

Description:

torqueArrow

Type: DoubleArrow

Description:

connectionLine

Type: Shape

Description:

basicForce

Type: BasicForce

Description:

basicTorque

Type: BasicTorque

Description:

zeroPosition

Type: ZeroPosition

Description:

Used in Examples (1)

ForceAndTorque

Demonstrate usage of ForceAndTorque element