WOLFRAM SYSTEM MODELER

BasicCutTorque

Basic sensor to measure cut torque vector (frame_resolve must be connected)

Wolfram Language

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SystemModel["Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutTorque"]

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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-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:

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 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.

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)
positiveSign	Value: true Type: Boolean Description: = true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)

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)

positiveSign

Value: true

Type: Boolean

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

Connectors (4)

	frame_a	Type: Frame_a Description: Coordinate system a
	frame_b	Type: Frame_b Description: Coordinate system b
	frame_resolve	Type: Frame_resolve Description: The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)
	torque	Type: RealOutput[3] Description: Cut torque resolved in frame defined by resolveInFrame