WOLFRAM SYSTEM MODELER
ForceAndTorqueForce and torque acting between two frames, defined by 3+3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve |
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Diagram
Wolfram Language
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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):
Parameters (2)
| 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) |
Inputs (5)
| connectionLineDiameter |
Default Value: world.defaultArrowDiameter Type: Diameter (m) Description: Diameter of line connecting frame_a and frame_b |
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| forceColor |
Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor Type: Color Description: Color of force arrow |
| torqueColor |
Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor Type: Color Description: Color of torque arrow |
| connectionLineColor |
Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.SensorColor Type: Color Description: Color of line connecting frame_a and frame_b |
| specularCoefficient |
Default Value: world.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed) |
Connectors (5)
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frame_a |
Type: Frame_a Description: Coordinate system a fixed to the component with one cut-force and cut-torque |
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frame_b |
Type: Frame_b Description: Coordinate system b fixed to the component with one cut-force and cut-torque |
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force |
Type: RealInput[3] Description: x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame |
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torque |
Type: RealInput[3] Description: x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame |
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frame_resolve |
Type: Frame_resolve Description: The input signals are optionally resolved in this frame |
Components (7)
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
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forceArrow |
Type: Arrow Description: Visualizing an arrow with variable size |
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torqueArrow |
Type: DoubleArrow Description: Visualizing a double arrow with variable size |
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connectionLine |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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basicForce |
Type: BasicForce Description: Force acting between two frames, defined by 3 input signals |
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basicTorque |
Type: BasicTorque Description: Torque acting between two frames, defined by 3 input signals |
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zeroPosition |
Type: ZeroPosition Description: Set absolute position vector of frame_resolve to a zero vector and the orientation object to a null rotation |
Used in Examples (1)
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Modelica.Mechanics.MultiBody.Examples.Elementary Demonstrate usage of ForceAndTorque element |