WOLFRAM SYSTEMMODELER

CutForceAndTorque

Measure cut force and cut torque vector

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Sensors.CutForceAndTorque"]
Out[1]:=

Information

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

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:

resolveInFrame =
Types.ResolveInFrameA.
Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_resolve Resolve vector 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.

Parameters (3)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a

Type: ResolveInFrameA

Description: Frame in which output vector(s) is/are resolved (world, frame_a, or frame_resolve)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled (show force and torque arrow)

positiveSign

Value: true

Type: Boolean

Description: = true, if force and torque with positive sign is returned (= frame_a.f/.t), otherwise with negative sign (= frame_b.f/.t)

Inputs (7)

N_to_m

Default Value: 1000

Type: Real (N/m)

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

Nm_to_m

Default Value: 1000

Type: Real (N·m/m)

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

forceDiameter

Default Value: world.defaultArrowDiameter

Type: Diameter (m)

Description: Diameter of force arrow

torqueDiameter

Default Value: forceDiameter

Type: Diameter (m)

Description: Diameter of torque arrow

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

specularCoefficient

Default Value: world.defaultSpecularCoefficient

Type: SpecularCoefficient

Description: Reflection of ambient light (= 0: light is completely absorbed)

Connectors (5)

frame_a

Type: Frame_a

Description: Coordinate system a

frame_b

Type: Frame_b

Description: Coordinate system b

frame_resolve

Type: Frame_resolve

Description: Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)

force

Type: RealOutput[3]

Description: Cut force resolved in frame defined by resolveInFrame

torque

Type: RealOutput[3]

Description: Cut torque resolved in frame defined by resolveInFrame

Components (6)

world

Type: World

forceArrow

Type: Arrow

torqueArrow

Type: DoubleArrow

cutForce

Type: BasicCutForce

cutTorque

Type: BasicCutTorque

zeroPosition

Type: ZeroPosition