WOLFRAM SYSTEM MODELER
BasicCutForceBasic sensor to measure cut force vector (frame_resolve must be connected) |
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Wolfram Language
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SystemModel["Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutForce"]
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Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
This basic sensor is aimed to be used within advanced sensors where the cut-force acting between the two frames is determined to which this model is connected. This cut-force is provided at the output signal connector force (= frame_a.f). If parameter positiveSign = false, the negative cut-force is provided (= frame_b.f).
Via parameter resolveInFrame it is defined in which frame the force vector is 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 |
In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector force is resolved in the frame to which frame_resolve is connected.
In the following figure the animation of a CutForce sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut force acting at frame_b and with negative sign at frame_a.
Parameters (2)
| resolveInFrame |
Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a Type: ResolveInFrameA Description: Frame in which output vector is resolved (world, frame_a, or frame_resolve) |
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| positiveSign |
Value: true Type: Boolean Description: = true, if force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f) |
Connectors (4)
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frame_a |
Type: Frame_a Description: Coordinate system a |
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frame_b |
Type: Frame_b Description: Coordinate system b |
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frame_resolve |
Type: Frame_resolve Description: The output vector is optionally resolved in this frame (cut-force/-torque are set to zero) |
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force |
Type: RealOutput[3] Description: Cut force resolved in frame defined by resolveInFrame |
Components (1)
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
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Used in Components (2)
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Modelica.Mechanics.MultiBody.Sensors Measure cut force vector |
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Modelica.Mechanics.MultiBody.Sensors Measure cut force and cut torque vector |