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-torque acting between the two frames is determined to which this model is connected. This cut-torque is provided at the output signal connector torque (= frame_a.f). If parameter positiveSign = false, the negative cut-torque is provided (= frame_b.f).
Via parameter resolveInFrame it is defined in which frame the torque 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 torque is resolved in the frame to which frame_resolve is connected.
In the following figure the animation of a CutTorque sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut torque 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 torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)
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 torque resolved in frame defined by resolveInFrame