WOLFRAM SYSTEMMODELER

BasicWorldTorque

External torque acting at frame_b, defined by 3 input signals

Wolfram Language

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SystemModel["Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldTorque"]
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Information

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

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

Types.ResolveInFrameB.Meaning
world Resolve input torque in world frame (= default)
frame_b Resolve input torque in frame_b
frame_resolve Resolve input torque in frame_resolve (frame_resolve must be connected)

If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the torque coordinates are with respect to the frame, that is connected to frame_resolve.

If resolveInFrame is not Types.ResolveInFrameB.frame_resolve, then the position vector and the orientation object of frame_resolve must be set to constant values from the outside in order that the model remains balanced (these constant values are ignored).

Connectors (3)

frame_b

Type: Frame_b

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

frame_resolve

Type: Frame_resolve

Description: The input signals are optionally resolved in this frame

torque

Type: RealInput[3]

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

Parameters (1)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.world

Type: ResolveInFrameB

Description: Frame in which torque is resolved (1: world, 2: frame_b, 3: frame_resolve)

Components (1)

world

Type: World

Description:

Used in Components (2)

WorldTorque

External torque acting at frame_b, defined by 3 input signals and resolved in frame world, frame_b or frame_resolve

WorldForceAndTorque

External force and torque acting at frame_b, defined by 3+3 input signals and resolved in frame world, frame_b or in frame_resolve