WOLFRAM SYSTEM MODELER
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:
|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.
Description: Frame in which output vector is resolved (world, frame_a, or frame_resolve)
Description: = true, if force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f)
Description: Coordinate system a
Description: Coordinate system b
Description: The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)
Description: Cut force resolved in frame defined by resolveInFrame